CN113520806A - Bionic stretching integral multi-degree-of-freedom self-supporting flexible ankle joint wearing power assisting device - Google Patents
Bionic stretching integral multi-degree-of-freedom self-supporting flexible ankle joint wearing power assisting device Download PDFInfo
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- CN113520806A CN113520806A CN202110964678.1A CN202110964678A CN113520806A CN 113520806 A CN113520806 A CN 113520806A CN 202110964678 A CN202110964678 A CN 202110964678A CN 113520806 A CN113520806 A CN 113520806A
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- 210000000544 articulatio talocruralis Anatomy 0.000 title claims abstract description 31
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 14
- 210000002683 foot Anatomy 0.000 claims abstract description 44
- 230000008093 supporting effect Effects 0.000 claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims abstract description 15
- 238000004804 winding Methods 0.000 claims description 3
- 230000008859 change Effects 0.000 abstract description 5
- 239000004020 conductor Substances 0.000 description 20
- 210000003205 muscle Anatomy 0.000 description 12
- 230000000694 effects Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
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- 238000004146 energy storage Methods 0.000 description 2
- 210000004744 fore-foot Anatomy 0.000 description 2
- 238000003199 nucleic acid amplification method Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
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- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
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- 230000002503 metabolic effect Effects 0.000 description 1
- 230000004118 muscle contraction 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
- 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
- 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
- A61H1/0218—Drawing-out devices
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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
- A61H1/0266—Foot
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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
- 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
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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
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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
- A61H2205/12—Feet
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- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
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- General Health & Medical Sciences (AREA)
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- Rehabilitation Tools (AREA)
Abstract
The invention discloses a bionic tensioning integral multi-degree-of-freedom self-supporting flexible ankle joint wearing power assisting device, which relates to the field of auxiliary walking and power assisting equipment and comprises a foot wearing component, a leg fixing component, a passive flexible rope component and a flexible stranded wire driving component, wherein the passive flexible rope component is connected to the left side and the right side between the foot wearing component and the leg fixing component, the flexible stranded wire driving component is connected to the front side and the rear side between the foot wearing component and the leg fixing component, and the foot wearing component, the leg fixing component, the passive flexible rope component and the flexible stranded wire driving component form a tensioning integral mechanism which can adjust the relative position and posture change between a foot and a leg and has self-supporting performance. The tension integral mechanism has the characteristics of flexibility, light weight and reconfigurability, has a self-supporting characteristic, can provide effective supporting force for a wearer, reduces the pressure on an ankle joint during walking, and can realize light weight and flexible driving by the stranded wire driving component.
Description
Technical Field
The invention relates to the technical field of walking assisting and power assisting equipment, in particular to the technical field of bionic stretching integral multi-degree-of-freedom self-supporting flexible ankle joints.
Background
The ankle joint is an important joint for connecting the leg and the foot and is a key part for providing support and movement for the body during walking of a person. Since the ankle joint is the joint that is used most frequently in daily activities, damage is more likely to occur than other joints.
Existing wearable assistive devices can be divided into rigid wearable devices and flexible wearable devices. Among them, the rigid device is the most widely studied device, and in practical applications, the rigid wearable device is mainly used. Rigidity wearing equipment utilizes rigidity original papers such as member to simulate human skeleton system, constitutes the system of similar human skeleton through the rigidity original papers of multiunit, and the wearing person drives the member motion and then supplementary wearing person's walking through the power original paper after wearing rigidity wearing equipment. The rigid wearable device has the advantages of having the supporting characteristic, but in terms of the biological mechanism, the main bearing function in walking is not a skeletal system but a muscular system. Rigid wearable devices are generally large in size and not conducive to movement by the wearer due to structural strength, and although some of the assistive devices separate the driver from the user and rest on the ground to reduce weight, such separate rigid wearable devices limit the range of motion of the user. And most of the wearable devices can only realize movement in a single degree of freedom, resulting in unsatisfactory effect in assisting.
The flexible wearable device is a brand new wearable device research direction in recent years, and mainly simulates a group of muscles which play a main role when a human body walks, and the muscle is cooperated with muscles of a wearer to reduce the metabolic consumption of the muscles and realize the function of assisting walking. The flexible wearable device generally utilizes the rope to simulate muscle, and whole mechanism weight is lighter than rigid wearable device, and because the rope generally is the under-constraint to the joint, so flexible wearable device degree of freedom is more than rigid wearable device. And because the muscle system is mainly used for walking of the human body, the flexible wearable device is superior to the rigid wearable device in the power assisting efficiency. However, as the mechanism of the supporting action on the muscle system of the human body is not clearly researched, most of the flexible power assisting devices cannot support the human body and only can assist a wearer with walking dysfunction to walk.
Because above-mentioned all kinds of existing ankle joint helping hand equipment can know, how to realize possessing muscle system high efficiency helping hand also can possess more multi freedom and certain structural support power simultaneously, alleviate ankle joint pressure and become one of the urgent problems that need to solve in the auxiliary walking field gradually.
Disclosure of Invention
The invention aims to: in order to solve the technical problems, the invention provides a bionic tensioning integral multi-degree-of-freedom self-supporting flexible ankle joint wearable power assisting device, which utilizes a tensioning system as a main body mechanism of ankle joint equipment, simulates muscle groups near an ankle joint through a flexible rope, so that the self balance supporting characteristic of the tensioning integral is realized, the supporting effect on legs is realized by utilizing the characteristic, the moment amplification of a motor is realized through the high reduction ratio characteristic of a stranded wire driving mode, the integral quality of the wearable equipment is reduced, and the higher power assisting efficiency is realized.
The invention specifically adopts the following technical scheme for realizing the purpose:
bionic tensioning integral multi-degree-of-freedom self-supporting flexible ankle joint wearing power assisting device, the foot wearing component at the heel is sleeved with the flexible ankle joint wearing component, the leg fixing component at the shank is sleeved with the flexible rope component, the left side and the right side of the passive flexible rope component between the foot wearing component and the leg fixing component are connected, the front side and the rear side of the flexible stranded wire driving component between the foot wearing component and the leg fixing component are connected, the foot wearing component, the leg fixing component, the passive flexible rope component and the flexible stranded wire driving component jointly form a tensioning integral mechanism which has the functions of adjusting the relative position and the posture between the foot and the leg and has the self-supporting performance.
Preferably, passive flexible rope subassembly sets up the left passive flexible line unit and the right passive flexible line unit in the left and right sides of the foot of the wearer including the symmetry, the passive flexible line unit in a left side and the passive flexible line unit in the right side all connect between foot wearing subassembly and shank fixed subassembly, flexible stranded conductor drive assembly sets up flexible stranded conductor drive assembly and back flexible stranded conductor drive assembly all to connect between foot wearing subassembly and shank fixed subassembly before flexible stranded conductor drive assembly and the flexible stranded conductor drive assembly in back and forth both sides around the shank including the symmetry.
Preferably, the subassembly is dressed to foot includes with the heel cooperation and the opening towards the U type heel connecting plate of toe direction and the sufficient preceding backup pad of arc of two free ends of bypassing the instep and connecting U type heel connecting plate, and U type heel connecting plate below is provided with a plurality of bandage or magic subsides of fixing U type heel connecting plate and the sufficient preceding backup pad of arc at the foot of wearing person around the sole of wearing person.
Preferably, the leg fixing assembly comprises two leg supporting plates symmetrically arranged at the left side and the right side of the shank at equal height, the front sides and the rear sides of the two leg supporting plates are fixed on the shank through elastic connecting belts, and the outer sides of the two leg supporting plates are provided with driven flexible wire connecting rods which incline downwards and are connected with corresponding driven flexible wire units.
Preferably, the passive flexible line unit in a left side is the same with the passive flexible line unit in the right side, and the passive flexible line unit in a left side all includes three flexible ropes with the passive flexible line unit in the right side, and three flexible ropes are connected at the end of corresponding passive flexible line connecting rod with one end, and three flexible rope other ends are connected respectively in U type heel connecting plate middle part, on the free end of the correspondence of U type heel connecting plate and arc preceding backup pad middle part.
Preferably, preceding flexible stranded conductor drive assembly is the same with back flexible stranded conductor drive assembly structure, and preceding flexible stranded conductor drive assembly and back flexible stranded conductor drive assembly equipartition include the mounting panel, install the motor on the mounting panel, set up at the twisted wire ring of motor output and connect two strands of twisted wire pair that become spiral winding at the twisted wire ring, the free end of preceding flexible stranded conductor drive assembly's flexible twisted wire pair is connected in the middle part of the sufficient preceding backup pad of arc, the free end of the flexible twisted wire pair of back flexible stranded conductor drive assembly is connected in U type heel connecting plate middle part.
The front flexible stranded wire driving assembly and the rear flexible stranded wire driving assembly form a flexible stranded wire pair by utilizing two parallel high-strength thin wires, a structure similar to a double-helix shape is formed by rotating a motor, the thin wires contract in the axis direction after being twisted, and the thin wires have the characteristic similar to that of a traditional speed reducing mechanism during twisting, so that the amplification of driving force can be realized, the muscle contraction characteristic can be realized, and otherwise, the muscle relaxation motion can be realized. Two flexible stranded conductor pairs in front and back coordinate to twist reverse, then can realize the cooperation motion between two sets of muscles, realize the motion of foot wearing subassembly.
The working principle is as follows: the stretching mechanism I consisting of the leg fixing component, the foot wearing component and the passive flexible rope component can allow the movement in multiple freedom directions by changing the length and the prestress of each flexible rope in the left passive flexible line unit and the right passive flexible line unit; the second stretching mechanism consisting of the leg fixing assembly, the foot wearing assembly and the flexible stranded wire driving assembly realizes the change of the relative position and the posture between the foot and the leg through the length change of the flexible stranded wire pairs of the front flexible stranded wire driving assembly and the rear flexible stranded wire driving assembly, thereby realizing the function of the joint of the human body and the joint of the wearing equipment on the second stretching mechanism under the static condition. The ankle joint of the human body can be driven by driving the dynamic motion of the two flexible twisted wire pairs in the main degree of freedom of the front and the back, so that the motion in the dorsiflexion and plantarflexion directions with the main degrees of freedom is realized.
The stretching integral system formed by the first stretching mechanism and the second stretching mechanism has the self-supporting characteristic, and the adjustment of the ankle joint supporting force can be realized by adjusting the relative position between the foot wearing component and the leg fixing component during static wearing, so that the supporting effect of the flexible ankle joint is realized.
In the direction of the secondary degree of freedom, as no rigid constraint is added, the whole system can be tensioned on other degrees of freedom with corresponding degrees of freedom. However, by adjusting the prestress on each flexible rope in the left passive flexible wire unit and the right passive flexible wire unit, the structure can have higher rigidity in the direction of the secondary degree of freedom, so that the movement range of the direction of the secondary degree of freedom is limited, and small-range movement in the direction of the secondary degree of freedom is realized while movement in the primary degree of freedom is allowed during movement. Meanwhile, along with the increase of the deformation of the flexible rope in the direction of the secondary degree of freedom, the restoring force provided by the structure is increased, and a certain limiting function can be realized. And because the flexible rope is adopted in the integral tensioning structure, the integral tensioning structure has certain elasticity, and can realize certain energy storage function.
The invention has the following beneficial effects:
1. the invention adopts a novel stranded wire driving mode, and utilizes the characteristics of high reduction ratio and large driving force output in the stranded wire process to replace the traditional mechanical speed reducer device, thereby greatly reducing the overall mass and size of the wearable equipment and lightening the burden of a wearer.
2. The invention adopts a novel tensioning whole body as a joint main body, can complete the movement in other secondary degree of freedom directions on the basis of not influencing the movement in the primary degree of freedom direction, and has extremely high flexibility.
3. The ankle joint has the characteristics of flexibility, high axial rigidity and good self-supporting property, can provide effective supporting force for a wearer, and reduces the pressure on the ankle joint during walking.
4. By adopting the tensioning integral structure, on one hand, a certain energy storage effect can be realized, on the other hand, the condition of overlarge movement amplitude in the direction of the secondary degree of freedom can be limited by adjusting the rigidity in other directions, and the ankle joint of a wearer is prevented from being damaged by external force.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a left side view of FIG. 1;
FIG. 3 is a schematic view of a foot-worn assembly;
FIG. 4 is a schematic view of the leg securing assembly;
FIG. 5 is a schematic mechanical view of a front flexible strand drive assembly or a rear flexible strand drive assembly;
reference numerals: 1-front flexible stranded wire driving component, 2-leg fixing component, 3-foot wearing component, 4-flexible rope A, 5-flexible rope B, 6-flexible rope C, 7-flexible rope D, 8-flexible rope E, 9-flexible rope F and 10-rear flexible stranded wire driving component.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. 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 invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
In the description of the embodiments of the present invention, it should be noted that the terms "inside", "outside", "upper", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships conventionally arranged when products of the present invention are used, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements indicated must have specific orientations, be constructed in specific orientations, and operated, and thus, cannot be construed as limiting the present invention.
Example 1
As shown in fig. 1 to 5, this embodiment provides whole multi freedom self-supporting flexible ankle joint of bionical stretch-draw dresses booster unit, a serial communication port, including the foot of establishing the heel department dresses subassembly 3, the fixed subassembly 2 of shank department is established to the cover, passive flexible rope subassembly and flexible stranded conductor drive assembly, the side of controlling between subassembly 3 and the fixed subassembly 2 of shank is dressed at the foot to passive flexible rope subassembly connection, flexible stranded conductor drive assembly connects the front and back side between subassembly 3 and the fixed subassembly 2 of shank are dressed to the foot, the subassembly is fixed to the shank, passive flexible rope subassembly and flexible stranded conductor drive assembly constitute jointly and have the change that can adjust relative position and gesture between foot and the shank and have the whole mechanism of stretch-draw of self-supporting performance.
The passive flexible rope subassembly sets up the passive flexible line unit in the left side and the passive flexible line unit in the right side of the foot of wearing person including the symmetry, the passive flexible line unit in a left side and the passive flexible line unit in the right side all connect between foot wearing subassembly 3 and shank fixed subassembly 2, flexible stranded conductor drive assembly sets up preceding flexible stranded conductor drive assembly 1 and the flexible stranded conductor drive assembly 10 in back of both sides around the shank including the symmetry, preceding flexible stranded conductor drive assembly 1 and back flexible stranded conductor drive assembly 10 all connect between foot wearing subassembly 3 and shank fixed subassembly 2.
Subassembly 3 is worn to foot includes and cooperates and the opening towards the U type heel connecting plate 301 of toe direction and the arc preceding backup pad 304 of two free ends of bypassing instep connection U type heel connecting plate 301 with the heel, and U type heel connecting plate 301 below is provided with a plurality of plantations that bypass the wearer and fixes bandage or magic subsides at the foot of wearer to U type heel connecting plate 301 and arc preceding backup pad 304.
The leg fixing component 2 comprises two leg supporting plates 203 which are symmetrically arranged on the left side and the right side of the lower leg part in equal height, the front sides and the rear sides of the two leg supporting plates 203 are fixed on the lower leg part through elastic connecting belts, and the outer sides of the two leg supporting plates 203 are respectively provided with a driven flexible wire connecting rod 204 which inclines downwards and is connected with a corresponding driven flexible wire unit.
Elastic connection area is magic subsides or bandage, and elastic connection area's quantity is respectively two around for, two shank backup pads 203 of shank fixed component 2 are through four bandages or magic subsides and wearer's shank fixed connection.
The left passive flexible wire unit and the right passive flexible wire unit are the same in structure, the left passive flexible wire unit and the right passive flexible wire unit respectively comprise three flexible ropes, the same ends of the three flexible ropes are connected to the tail ends of the corresponding passive flexible wire connecting rods 204, and the other ends of the three flexible ropes are connected to the middle of the U-shaped heel connecting plate 301, the free ends of the U-shaped heel connecting plate 301 and the middle of the arc-shaped front support plate 304 respectively.
The three flexible ropes of the right passive flexible wire unit are respectively a flexible rope A4, a flexible rope B5 and a flexible rope C6; two ends of the flexible rope A4 are respectively connected with the tail end of the right passive flexible wire connecting rod 204 and the middle part of the U-shaped heel connecting plate 301; two ends of the flexible rope B5 are respectively connected with the tail end of the right passive flexible wire connecting rod 204 and the right free end of the U-shaped heel connecting plate 301; two ends of the flexible rope C6 are respectively connected with the tail end of the right passive flexible wire connecting rod 204 and the middle part of the arc-shaped forefoot support plate 304;
the three flexible ropes of the left passive flexible wire unit are respectively a flexible rope D7, a flexible rope E8 and a flexible rope F9.
Two ends of the flexible rope D7 are respectively connected with the tail end of the left passive flexible wire connecting rod 204 and the middle part of the arc-shaped forefoot support plate 304; two ends of a flexible rope F9 are respectively connected with the tail end of the left passive flexible wire connecting rod 204 and the right free end of the U-shaped heel connecting plate 301; two ends of the flexible rope E8 are respectively connected with the tail end of the left passive flexible wire connecting rod 204 and the middle part of the U-shaped heel connecting plate 301.
The front flexible stranded wire driving assembly 1 and the rear flexible stranded wire driving assembly 10 are identical in structure, the front flexible stranded wire driving assembly 1 and the rear flexible stranded wire driving assembly 10 are uniformly distributed and comprise a mounting plate 10-2, a motor 101 mounted on the mounting plate 10-2, a stranded wire ring 103 arranged at the output end of the motor 101 and a flexible stranded wire pair 104 connected to two strands of the stranded wire ring 103 in a spiral winding shape, the free end of the flexible stranded wire pair 104 of the front flexible stranded wire driving assembly 1 is connected to the middle of an arc-shaped front-foot supporting plate 304, and the free end of the flexible stranded wire pair 104 of the rear flexible stranded wire driving assembly 10 is connected to the middle of a U-shaped heel connecting plate 301.
In this embodiment, after the bionic ankle joint is worn by the patient, in the assisting process, the motor of the front flexible stranded wire driving assembly or the rear flexible stranded wire driving assembly rotates to drive the flexible stranded wire pair to twist, so that the twisted system similar to a spiral wire is generated, the length of the flexible stranded wire pair is reduced, and the contraction characteristic similar to muscles is realized. When the flexible twisted wire pair in the twisted state is driven by the motor to rotate in the opposite direction, the flexible twisted wire pair can generate corresponding unwinding motion so as to increase the length of the flexible twisted wire pair and realize the relaxation of muscles. When the system composed of the current flexible stranded wire driving component or the rear flexible stranded wire driving component works together, the driving characteristic similar to a group of muscles of a human body can be realized. In the integral tensioning structure, the relative position and the pose between the foot wearing component and the leg fixing component can be changed due to the change of the length of the flexible twisted pair, so that the movement in the direction of the main degree of freedom during walking is realized.
In the process of the movement, in other directions except the front and rear main freedom degree directions, no fixed pair constraint exists, so that certain movement is allowed in the secondary freedom degree direction; the antagonistic tension mechanism formed by the left passive flexible line unit and the right passive flexible line unit has a larger rigidity coefficient, so that the range of motion in the secondary degree of freedom directions of the left side and the right side is not large, the passive adaptation in other secondary degree of freedom directions during walking is realized, the motion requirements of the ankle joint of a human body are fully met, the power is assisted, the motion of the ankle joint is not limited too much, and the wearing discomfort of a user is relieved.
Claims (6)
1. Bionic stretching integral multi-degree-of-freedom self-supporting flexible ankle joint wearable power assisting device, the bionic stretching integral multi-degree-of-freedom self-supporting flexible ankle joint wearable power assisting device is characterized by comprising a foot wearable component (3) arranged at a heel, a leg fixing component (2) arranged at a shank, a passive flexible rope component and a flexible stranded wire driving component, the passive flexible rope component is connected to the left side and the right side between the foot wearable component (3) and the leg fixing component (2), the flexible stranded wire driving component is connected to the front side and the rear side between the foot wearable component (3) and the leg fixing component (2), the foot wearable component, the leg fixing component, the passive flexible rope component and the flexible stranded wire driving component jointly form a stretching integral mechanism which can adjust the relative position and posture between the foot and the leg and has self-supporting performance.
2. The bionic tensioning integral multi-degree-of-freedom self-supporting flexible ankle joint wearable power assisting device as claimed in claim 1, wherein the passive flexible rope assembly comprises a left passive flexible rope unit and a right passive flexible rope unit which are symmetrically arranged on the left side and the right side of the foot of a wearer, the left passive flexible rope unit and the right passive flexible rope unit are connected between the foot wearable assembly (3) and the leg fixing assembly (2), the flexible stranded wire driving assembly comprises a front flexible stranded wire driving assembly (1) and a rear flexible stranded wire driving assembly (10) which are symmetrically arranged on the front side and the rear side of the leg, and the front flexible stranded wire driving assembly (1) and the rear flexible stranded wire driving assembly (10) are connected between the foot wearable assembly (3) and the leg fixing assembly (2).
3. The bionic tensioning integral multi-degree-of-freedom self-supporting flexible ankle joint wearing assisting device according to claim 2, wherein the foot wearing assembly (3) comprises a U-shaped heel connecting plate (301) matched with a heel and provided with an opening facing towards a toe direction and an arc-shaped front foot supporting plate (304) bypassing two free ends of the instep connecting plate (301), and a plurality of straps or magic tapes bypassing soles of a wearer and fixing the U-shaped heel connecting plate (301) and the arc-shaped front foot supporting plate (304) on the foot of the wearer are arranged below the U-shaped heel connecting plate (301).
4. The bionic tensioning integral multi-degree-of-freedom self-supporting flexible ankle joint wearing assisting device as claimed in claim 3, wherein the leg fixing component (2) comprises two leg supporting plates (203) symmetrically arranged on the left side and the right side of the lower leg at equal height, the front side and the rear side of each leg supporting plate (203) are fixed on the lower leg through elastic connecting belts, and the outer sides of the two leg supporting plates (203) are respectively provided with a passive flexible wire connecting rod (204) which inclines downwards and is connected with a corresponding passive flexible wire unit.
5. The bionic tensioning integral multi-degree-of-freedom self-supporting flexible ankle joint wearing assisting device as claimed in claim 4, wherein the left passive flexible line unit and the right passive flexible line unit are identical in structure, each of the left passive flexible line unit and the right passive flexible line unit comprises three flexible ropes, the same ends of the three flexible ropes are connected to the tail ends of the corresponding passive flexible line connecting rods (204), and the other ends of the three flexible ropes are respectively connected to the middle of the U-shaped heel connecting plate (301), the corresponding free ends of the U-shaped heel connecting plate (301) and the middle of the arc-shaped front-foot supporting plate (304).
6. The bionic tensioning integrated multi-degree-of-freedom self-supporting flexible ankle joint wearable power assisting device according to claim 4, it is characterized in that the front flexible stranded wire driving assembly (1) and the rear flexible stranded wire driving assembly (10) have the same structure, the front flexible stranded wire driving assembly (1) and the rear flexible stranded wire driving assembly (10) are uniformly distributed and comprise a mounting plate (10-2), a motor (101) mounted on the mounting plate (10-2), a stranded wire ring (103) arranged at the output end of the motor (101) and two flexible stranded wire pairs (104) which are connected with the stranded wire ring (103) and form a spiral winding shape, the free ends of the flexible twisted wire pairs (104) of the front flexible twisted wire driving component (1) are connected to the middle part of the arc-shaped front foot supporting plate (304), the free ends of the flexible twisted wire pairs (104) of the rear flexible twisted wire driving assembly (10) are connected to the middle of the U-shaped heel connecting plate (301).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110964678.1A CN113520806A (en) | 2021-08-20 | 2021-08-20 | Bionic stretching integral multi-degree-of-freedom self-supporting flexible ankle joint wearing power assisting device |
Applications Claiming Priority (1)
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| CN114533497A (en) * | 2022-04-27 | 2022-05-27 | 中国科学技术大学 | Flexible rehabilitation glove and using method and life assisting method thereof |
| CN115607348A (en) * | 2022-12-05 | 2023-01-17 | 西南交通大学 | Variable-rigidity ankle-foot orthosis |
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Application publication date: 20211022 |