CN113580100A - Passive type load-bearing maneuvering exoskeleton - Google Patents
Passive type load-bearing maneuvering exoskeleton Download PDFInfo
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- CN113580100A CN113580100A CN202110717443.2A CN202110717443A CN113580100A CN 113580100 A CN113580100 A CN 113580100A CN 202110717443 A CN202110717443 A CN 202110717443A CN 113580100 A CN113580100 A CN 113580100A
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- 230000007246 mechanism Effects 0.000 claims abstract description 90
- 210000001624 hip Anatomy 0.000 claims abstract description 75
- 210000004394 hip joint Anatomy 0.000 claims abstract description 47
- 210000003423 ankle Anatomy 0.000 claims abstract description 32
- 210000000629 knee joint Anatomy 0.000 claims abstract description 32
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 29
- 210000003127 knee Anatomy 0.000 claims abstract description 28
- 238000004146 energy storage Methods 0.000 claims abstract description 15
- 210000002683 foot Anatomy 0.000 claims abstract description 11
- 210000000689 upper leg Anatomy 0.000 claims description 18
- 230000000694 effects Effects 0.000 abstract description 4
- 238000005452 bending Methods 0.000 description 5
- 206010073713 Musculoskeletal injury Diseases 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 210000002414 leg Anatomy 0.000 description 2
- 230000002503 metabolic effect Effects 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 206010062310 Joint hyperextension Diseases 0.000 description 1
- 206010060820 Joint injury Diseases 0.000 description 1
- 208000029549 Muscle injury Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000004308 accommodation Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 244000309466 calf Species 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000037230 mobility Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004118 muscle contraction Effects 0.000 description 1
- 238000005381 potential energy Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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Abstract
The invention discloses a passive load-bearing motorized exoskeleton which comprises a back plate, a waist and back connecting mechanism, a hip power-assisted mechanism, a knee power-assisted mechanism, an ankle power-assisted mechanism and a foot support, wherein the back plate is connected with the hip power-assisted mechanism through the waist and back connecting mechanism; the hip power-assisted mechanism, the knee power-assisted mechanism and the ankle power-assisted mechanism can respectively drive the hip joint, the knee joint and the ankle joint of a human body to move, and the hip power-assisted mechanism, the knee power-assisted mechanism and the ankle power-assisted mechanism are respectively provided with an elastic energy storage unit, and the elastic energy storage unit elastically assists power to each joint. The mechanism is driven passively, electric endurance is not needed, flexibility and stability are achieved, the mechanism can flexibly move along with a human body while supporting a load, and the elastic boosting mechanisms are arranged on hip joints, knee joints and ankle joints, so that the effect of relieving load walking fatigue can be achieved.
Description
Technical Field
The invention relates to the technical field of exoskeletons, in particular to a passive load-bearing maneuvering exoskeletons.
Background
In the occasions where large-scale carrying equipment is difficult to play a role, such as plateau borders, jungle mountainous regions, earthquake disaster areas and the like, the tasks of carrying materials, rescuing and the like provide great challenges for the load-bearing maneuvering capacity of workers. The load can increase physical consumption and influence mobility, and meanwhile, the body can be injured by too large load or too long load, so that muscle and joint injuries are caused. The active exoskeleton is complex in structure and driven by a driving motor and the like, so that the problems of insufficient endurance, flexible movement and the like exist, and the active exoskeleton is difficult to apply to the outdoor carrying and rescue scenes.
Disclosure of Invention
Aiming at the problems in the prior art, the invention aims to provide a passive weight-bearing motorized exoskeleton which is simple in structure, flexible and stable.
In order to achieve the purpose, the passive load-bearing motorized exoskeleton comprises a back plate, a waist and back connecting mechanism, a hip power-assisted mechanism, a knee power-assisted mechanism, an ankle power-assisted mechanism and a foot support, wherein the back plate is connected with the hip power-assisted mechanism through the waist and back connecting mechanism, the hip power-assisted mechanism is connected with the knee power-assisted mechanism, the knee power-assisted mechanism is connected with the ankle power-assisted mechanism, and the ankle power-assisted mechanism is connected with the foot support; the hip power-assisted mechanism, the knee power-assisted mechanism and the ankle power-assisted mechanism can respectively drive a hip joint, a knee joint and an ankle joint of a human body to move, and the hip power-assisted mechanism, the knee power-assisted mechanism and the ankle power-assisted mechanism are respectively provided with an elastic energy storage unit, and each joint is elastically assisted by the elastic energy storage unit.
Furthermore, the waist and back connecting mechanism comprises a back connecting piece, a waist connecting piece and a sliding pair, the back connecting piece is fixed on the back plate, the waist connecting piece is fixed on the hip boosting mechanism, the sliding pair is arranged between the back connecting piece and the waist connecting piece, and the back connecting piece and the waist connecting piece slide relatively through the sliding pair.
Furthermore, the sliding pair comprises a sliding block and a guide rail, the guide rail is arranged on the back connecting piece, the sliding block is arranged on the guide rail in a sliding mode, and the back connecting piece is rotatably arranged on the sliding block.
Furthermore, limiting structures for limiting the maximum sliding position of the sliding block are arranged on two sides of the guide rail.
Furthermore, a foldable bracket is arranged on the back plate.
Further, the hip power-assisted mechanism comprises a hip support, a first elastic element, a hip joint and a connecting piece, one end of the first elastic element is connected to the hip joint support, the other end of the first elastic element is connected to the hip joint, the hip joint is connected with a thigh rod through the connecting piece, the hip joint is arranged on the hip joint support and can rotate around a coronal axis, a vertical axis and a sagittal axis, and the first elastic element performs elastic energy storage and power assistance along with flexion and extension actions in the sagittal plane of the hip joint.
Furthermore, the hip support is connected with a waist connecting piece, a connecting plate connected with the waist connecting piece is arranged on the hip support, a sliding groove matched with the connecting plate is arranged on the waist connecting piece, and the width of the hip support is adjusted by adjusting the length of the connecting plate extending into the sliding groove.
Furthermore, a sliding groove is formed in the connecting piece, and the length of the thigh rod is adjusted by adjusting the length of the thigh rod inserted into the sliding groove.
Further, knee assist drive device includes second elastic element, knee joint and stopper, the one end and the thigh pole of second elastic element are connected, the other end of second elastic element with the knee joint is connected, one side of knee joint is provided with prevents that the knee joint hyperextension the stopper, the knee joint rotates with shank pole to be connected, second elastic element is along with elasticity energy storage and helping hand are done to the action of flexion and extension of knee joint sagittal plane.
Further, ankle assist drive device includes ankle support, third elastic element and ankle joint, the one end and the shank pole of third elastic element are connected, the other end of third elastic element with ankle joint connects, ankle joint can be around coronary axis, sagittal axis rotation, third elastic element is along with ankle joint sagittal plane's the action of crooking and stretching does elasticity energy storage and helping hand.
The mechanism is mechanically connected and driven in a passive mode, electric endurance is not needed, flexibility and stability are achieved, the mechanism can flexibly move along with a human body while supporting load, and the elastic boosting mechanisms are arranged on hip joints, knee joints and ankle joints, so that wearing comfort is improved, and the effects of reducing metabolic energy consumption, protecting musculoskeletal injuries and relieving fatigue are achieved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIGS. 1-2 are schematic structural views of a passive weight-bearing motorized exoskeleton according to an embodiment of the present invention;
FIG. 3 is a schematic structural view of a lumbar-back connection mechanism according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a bracket according to an embodiment of the present invention;
figures 5-6 are schematic structural views of a hip assist mechanism according to an embodiment of the present invention;
FIGS. 7 to 8 are schematic structural views of a knee assist mechanism according to an embodiment of the present invention;
FIG. 9 is a schematic structural view of an ankle assist mechanism and a foot rest according to an embodiment of the present invention
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art.
In the description of the embodiments of the present invention, it should be noted that the term "connected" is to be understood broadly, and may be, for example, fixed, detachable, or integrally connected, and may be mechanically or electrically connected, and may be directly or indirectly connected through an intermediate medium, unless otherwise specifically stated or limited. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The terms "top," "bottom," "above … …," "below," and "above … …," "left-right direction," "up-down direction" as used throughout the description are relative positions with respect to components of the device, such as the relative positions of the top and bottom substrates inside the device. It will be appreciated that the devices are multifunctional, regardless of their orientation in space.
The terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying a number of the indicated technical features. Thus, a defined feature of "first", "second", may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1 and 2, the passive weight-bearing motorized exoskeleton comprises a back plate 1, a waist-back connecting mechanism 2, a hip power-assisted mechanism 4, a knee power-assisted mechanism 5, an ankle power-assisted mechanism 6 and a foot rest 7, wherein the back plate 1 is connected with the hip power-assisted mechanism 4 through the waist-back connecting mechanism 2, the hip power-assisted mechanism 4 is connected with the knee power-assisted mechanism 5, the knee power-assisted mechanism 5 is connected with the ankle power-assisted mechanism 6, and the ankle power-assisted mechanism 6 is connected with the foot rest 7; the hip power-assisted mechanism 4, the knee power-assisted mechanism 5 and the ankle power-assisted mechanism 6 can respectively drive a hip joint, a knee joint and an ankle joint of a human body to move, and the hip power-assisted mechanism 4, the knee power-assisted mechanism 5 and the ankle power-assisted mechanism 6 are respectively provided with an elastic energy storage unit, and each joint is elastically assisted by the elastic energy storage unit.
As shown in fig. 3, the waist and back connecting mechanism 2 includes a back connecting member 21, a waist connecting member 22, and a sliding pair, the back connecting member 21 is fixed on the back plate 1, the waist connecting member 22 is fixed on the hip assisting mechanism 4, the sliding pair is disposed between the back connecting member 21 and the waist connecting member 22, and the back connecting member 21 and the waist connecting member 22 slide relatively through the sliding pair. Through setting up the vice back of the body connecting piece 21 and waist connecting piece sliding connection of sliding, can be along with user's back crooked self-adaptation adjustment position and gesture to reduce the uncomfortable of truck, solved the limited problem of traditional integral type ectoskeleton system of bearing upper part of the body truck flexibility ratio, improved the wearing travelling comfort of wearing person. Specifically, the sliding pair comprises a sliding block 23 and a guide rail 24, the guide rail 24 is arranged on the back connecting piece 21, the sliding block 23 is arranged on the guide rail 24 in a sliding manner, a through hole is formed in the back connecting piece 21, a boss matched with the through hole is arranged on the sliding block 23, the boss is arranged in the through hole, a locking screw is arranged at the end part of the boss for fastening, the back connecting piece 21 and the sliding block 23 can be connected, the reliability of the connection between the back connecting piece 21 and the sliding block 23 is improved, the back connecting piece 21 can swing left and right around the boss, and the position and the posture can be adjusted in a self-adaptive manner along with the left and right lateral bending of the waist of a user around a sagittal axis. In addition, the two sides of the guide rail 24 are provided with limiting structures for limiting the maximum sliding position of the slider 23, for example, limiting plates 25 arranged on the lower side of the guide rail 24, so that the slider 23 can be prevented from falling off from the lower side of the guide rail 24.
As shown in fig. 4, a folding bracket 3 can be disposed on the back plate 1, the folding bracket 3 can bear a weight when being unfolded, and the folding bracket 3 can be folded when not bearing the weight. The folding bracket 3 comprises a connecting rod 31, an adapter 32 and a bracket disc 33, one end of the connecting rod 31 is fixedly connected with the ear seat on the back connecting piece 21, the other end of the connecting rod is connected with the adapter 32, and the bracket disc 33 is hinged with the adapter 32, so that the folding of the bracket disc 33 is realized. By adopting the adapter 32 between the connecting rod 31 and the bracket disc 33, the folding bracket 3 can be ensured to be installed on the backboard, and meanwhile, the interference of the waist connecting piece 22 on the installation can be avoided, so that the installation structure between the waist-back connecting mechanism and the folding bracket is more compact. In addition, the folding bracket 3 is fixedly connected with the back connecting piece 21, so that the load acting force when a heavy object is loaded can be transmitted to the lower limb bearing structure through the waist and back connecting mechanism 2, and most of shoulder pressure is shared.
As shown in fig. 5 and 6, the hip assist mechanism 4 includes a hip bracket 41, a first elastic element 42, a hip joint 43, and a connector 44, wherein one end of the first elastic element 42 is connected to the frame of the hip joint 43, the other end of the first elastic element 42 is connected to the hip joint 43, the connector 44 connects the hip joint 43 with a thigh bar, the hip joint 43 is disposed on the frame of the hip joint 43 and can rotate around a coronal axis, a vertical axis, and a sagittal axis, and the first elastic element 42 performs elastic energy storage and assistance along with the sagittal flexion and extension of the hip joint 43. Specifically, the hip joint 43 includes an upper joint 431 and a lower joint 432, the upper joint 431 has ear plates, a front hanging rod is disposed between the ear plates, one end of the first elastic element 42 is hooked on the front hanging rod, the upper joint 431 has a through hole penetrating the first rotating shaft 433, and the first rotating shaft 433 penetrates the through hole and mounts the upper joint 431 on the hip bracket 41. The upper joint 431 and the lower joint 432 are hollow, a second rotating shaft 434 is arranged in the upper joint 431 and the lower joint 432, the second rotating shaft 434 is supported by a flange self-lubricating shaft sleeve 435 between the upper joint 431 and the lower joint 432, a through hole penetrating through a third rotating shaft 436 is formed in the lower joint 432, the through hole of the lower joint 432 and the through hole in the connecting piece 44 are matched and penetrate through the third rotating shaft 436 to connect the hip joint 43 with the upper end of the connecting piece 44, the lower end of the connecting piece 44 is connected with a thigh rod, and therefore the hip joint 43 is connected with the thigh rod through the connecting piece 44. The first rotating shaft 433 is provided in the left-right direction, and the hip joint 43 can realize the degree of freedom of flexion and extension of the hip joint when rotating around the first rotating shaft 433. The second rotating shaft 434 is arranged in a vertical direction, and the hip joint 43 can realize the freedom of internal and external rotation of the hip joint when rotating around the second rotating shaft 434. The third rotation shaft 436 is disposed in the front-rear direction, and the hip joint 43 can realize the degree of freedom of hip joint abduction when rotating around the third rotation shaft 434. Through the three-degree-of-freedom movement of the first elastic element 42 and the hip joint 43, the hip joint movement is considered, meanwhile, the assistance can be carried out on the hip joint movement through the first elastic element 42 when the hip joint moves, and from the aspects of energy recovery and utilization at the hip joint, part of energy of front and back swinging of thighs is recovered through the energy storage spring, so that the hip joint is assisted to do negative function while the energy is stored along with stretching and stretching of the joint in the negative function interval of the hip joint, and then the stored elastic potential energy is released along with buckling of the joint in the positive function interval of the hip joint, and the hip joint is assisted to do positive function. Meanwhile, when the hip joint spring stands in a load-bearing way, moment is generated through pre-stored pulling force, the back overturning moment generated by the load-bearing of the back part of the waist and shoulder muscle balancing part is helped, and the fatigue degree of hip movement is relieved.
The hip bracket 41 is connected with the waist connecting piece 22, the hip bracket 41 is provided with a connecting plate 411 connected with the waist connecting piece 22, the waist connecting piece 22 is provided with a sliding groove matched with the connecting plate 411, and the width of the hip bracket 41 is adjusted by adjusting the length of the connecting plate 411 extending into the sliding groove. The connecting member 44 is provided with a sliding slot, and the length of the thigh rod is adjusted by adjusting the length of the thigh rod inserted into the sliding slot. The width of the hip and the length of the leg are adjustable, so that the hip-wearing suit can adapt to wearing requirements of different people, and the wearing flexibility and comfort are improved.
As shown in fig. 7 and 8, the knee assisting mechanism 5 includes a second elastic element 51, a knee joint 52 and a stopper 53, one end of the second elastic element 51 is connected to the thigh rod, the other end of the second elastic element 51 is connected to the knee joint 52, the stopper 53 for preventing the knee joint 52 from extending excessively is provided at one side of the knee joint 52, the knee joint 52 is rotatably connected to the calf rod, and the second elastic element 51 performs elastic energy storage and assistance along with the movement of the knee joint 52. Specifically, one end of the second elastic element 51 is hung on a hanging ring on the thigh rod, the other end of the second elastic element 51 is hung in a strip-shaped hole on the knee joint 52 through a pull ring, and the knee joint 52 is rotatably connected with the shank rod through a joint shaft 54 arranged along the left-right direction. Rotation of the knee joint 52 about the joint axis 54 allows flexion and extension accommodation of the knee. The knee joint is buckled at the moment when the knee joint touches the ground, the spring is stretched, the centrifugal contraction of muscles is simulated, the auxiliary braking is carried out on the movement of the knee joint, and the impact injury protection effect is played. When going upstairs and going uphill, the knee joint flexion extension spring stores energy, and then provides knee extension moment, playing the joint helping hand effect. The spring force arm is adaptively adjusted along with the knee bending angle, a larger force arm is kept when the knee bending angle is small, the spring hanging point slides towards the inner side of the strip-shaped hole when the knee bending angle is too large, the force arm is reduced, the knee bending resistance is reduced, the wearing comfort is improved, and the balance of bearing capacity and flexibility is achieved. The inner side of the thigh rod is also provided with a lining plate 8 for supporting and protecting the thigh.
As shown in fig. 9, the ankle assist mechanism 6 includes an ankle bracket 61, a third elastic member 62 and an ankle joint 63, one end of the third elastic member is connected to the shank, the other end of the third elastic member is connected to the ankle joint, the ankle joint can rotate around the coronal axis and the sagittal axis, and the third elastic member elastically stores energy and assists power along with the movement of the ankle joint. Specifically, the third elastic element 62 may include two springs, one end of each of the two springs is connected to the shank, the other end of each of the two springs is connected to an ankle joint 63, the ankle support 61 is shaped to fit to the ankle and supports the ankle, a first joint shaft 64 is inserted into the ankle joint 63 in the front-rear direction, a ring 631 is formed in the ankle joint 63, and the lower end of the ankle support 61 is hinged to the ring 631 via a second joint shaft 65 formed in the left-right direction. The first joint axis 64 is provided in the front-rear direction, and the ankle joint 63 can realize the degree of freedom of joint abduction when rotating about the first joint axis 64. The second joint axis 65 is provided in the left-right direction, and the ankle joint 63 can realize the degree of freedom in flexion and extension of the joint when rotating around the second joint axis 65. Through the two-degree-of-freedom movement of the third elastic element 63 and the ankle joint 63, the ankle joint movement can be considered, and meanwhile, the ankle joint movement can be assisted through the third elastic element 62 when the ankle joint moves, in a walking gait, the ankle joint is supported to be dorsiflexed, the spring is continuously stretched to store energy, and in the moment of pedaling the ground, the energy of the spring is released, so that the ground pedaling assistance is provided for the ankle. Relieving fatigue of ankle exercise. The shank rod is also provided with a lining plate 9 to support and protect the shank.
In addition, the ankle support 61 is provided with a connecting member connected to the shank rod, the connecting member is provided with a sliding groove, and the length of the shank rod is adjusted by adjusting the length of the shank rod inserted into the sliding groove. The length of the shank is adjustable, so that the leg can adapt to the wearing requirements of different people, and the wearing flexibility and comfort are improved.
The foot support 7 comprises a heel support 71 and a front foot plate 72, a spring leaf 73 is arranged between the heel support 71 and the front foot plate 72 for supporting, and the spring leaf 73 plays a role in buffering and rebounding boosting force.
In conclusion, all the mechanisms are mechanically connected and driven in a passive mode, electric endurance is not needed, flexibility and stability are achieved, the device can flexibly move along with a human body while supporting load, and elastic boosting mechanisms are arranged on hip joints, knee joints and ankle joints, so that the device can reduce movement resistance, improve wearing comfort, and play a role in reducing metabolic energy consumption, protecting musculoskeletal injuries and relieving fatigue.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
It will be understood that the invention is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.
Claims (10)
1. A passive weight-bearing motorized exoskeleton is characterized by comprising a back plate, a waist and back connecting mechanism, a hip power-assisted mechanism, a knee power-assisted mechanism, an ankle power-assisted mechanism and a foot support, wherein the back plate is connected with the hip power-assisted mechanism through the waist and back connecting mechanism, the hip power-assisted mechanism is connected with the knee power-assisted mechanism, the knee power-assisted mechanism is connected with the ankle power-assisted mechanism, and the ankle power-assisted mechanism is connected with the foot support; the hip power-assisted mechanism, the knee power-assisted mechanism and the ankle power-assisted mechanism can respectively drive a hip joint, a knee joint and an ankle joint of a human body to move, and the hip power-assisted mechanism, the knee power-assisted mechanism and the ankle power-assisted mechanism are respectively provided with an elastic energy storage unit, and each joint is elastically assisted by the elastic energy storage unit.
2. The passive weight-bearing motorized exoskeleton of claim 1 wherein said waist-back linkage mechanism comprises a back link, a waist link, and a sliding pair, said back link being fixed to said back plate, said waist link being fixed to said hip booster mechanism, said sliding pair being disposed between said back link and said waist link, said back link and said waist link being slidable relative to each other via said sliding pair.
3. The passive weight-loading motorized exoskeleton of claim 2 wherein said sliding pair comprises a slider and a guide rail, said guide rail being disposed on said back link, said slider being slidably disposed on said guide rail, said back link being rotatably disposed on said slider.
4. The passive weight-bearing motorized exoskeleton of claim 3 wherein limiting structures are disposed on either side of the rail to limit the maximum sliding position of the slide.
5. The passive weight-bearing motorized exoskeleton of claim 1 wherein a collapsible bracket is disposed on said back plate.
6. The passive weight-bearing motorized exoskeleton of claim 1 or claim 2 wherein said hip assist mechanism comprises a hip mount, a first elastic element, a hip joint, and a connector, wherein one end of said first elastic element is connected to said hip joint mount, the other end of said first elastic element is connected to said hip joint, said connector connects said hip joint to a thigh bar, said hip joint is disposed on said hip joint mount and is capable of rotating about a coronal axis, a vertical axis, and a sagittal axis, and said first elastic element elastically stores energy and assists with flexion and extension movements of said hip joint in the sagittal plane.
7. The passive weight-bearing motorized exoskeleton of claim 6 wherein said hip bracket is connected to a waist link, said hip bracket is provided with a connecting plate connected to said waist link, said waist link is provided with a sliding slot matching said connecting plate, and the width of said hip bracket is adjusted by adjusting the length of said connecting plate extending into said sliding slot.
8. The passive weight-bearing motorized exoskeleton of claim 6 wherein said link member is provided with a slot, and the length of said thigh bar is adjusted by adjusting the length of said thigh bar inserted into said slot.
9. The passive weight-bearing motorized exoskeleton of claim 1 wherein said knee assist mechanism comprises a second elastic element, a knee joint and a stop block, wherein one end of said second elastic element is connected to a thigh rod, the other end of said second elastic element is connected to said knee joint, said stop block is disposed on one side of said knee joint for preventing the knee joint from hyperextension, said knee joint is rotatably connected to a shank rod, and said second elastic element performs elastic energy storage and assistance along with the flexion and extension movements of the sagittal plane of said knee joint.
10. The passive weight-bearing motorized exoskeleton of claim 1 wherein said ankle assist mechanism comprises an ankle brace, a third elastic element and an ankle joint, wherein one end of said third elastic element is connected to said shank rod, and the other end of said third elastic element is connected to said ankle joint, said ankle joint is capable of rotating around the coronal axis and the sagittal axis, and said third elastic element elastically stores energy and assists in flexion and extension of the sagittal plane of said ankle joint.
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| CN202110717443.2A CN113580100B (en) | 2021-06-28 | 2021-06-28 | Passive load-bearing motorized exoskeleton |
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| CN202110717443.2A CN113580100B (en) | 2021-06-28 | 2021-06-28 | Passive load-bearing motorized exoskeleton |
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| CN113580100B CN113580100B (en) | 2023-10-27 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113858256A (en) * | 2021-08-30 | 2021-12-31 | 北京机械设备研究所 | Exoskeleton hip joint with three degrees of freedom passive energy storage assistance |
| CN114918901A (en) * | 2022-05-07 | 2022-08-19 | 中国人民解放军陆军军医大学 | Exoskeleton device |
| CN115582825A (en) * | 2022-12-12 | 2023-01-10 | 杭州智元研究院有限公司 | Passive lower limb exoskeleton |
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| CN115582825B (en) * | 2022-12-12 | 2024-03-15 | 杭州智元研究院有限公司 | Passive lower limb exoskeleton |
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