CN113925743B - Elbow wearable exoskeleton based on composite Bellow array - Google Patents
Elbow wearable exoskeleton based on composite Bellow array Download PDFInfo
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- CN113925743B CN113925743B CN202111233540.0A CN202111233540A CN113925743B CN 113925743 B CN113925743 B CN 113925743B CN 202111233540 A CN202111233540 A CN 202111233540A CN 113925743 B CN113925743 B CN 113925743B
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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
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1238—Driving means with hydraulic or pneumatic 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
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—Holding means therefor
Abstract
The invention provides an elbow-wearing exoskeleton based on a composite Below array, which comprises a soft elbow guard and a composite Below array driver. The composite Bellow array driver is tightly connected with the soft elbow guard, and an adaptive mechanism is formed at the connection part. The composite Bellow array driver comprises upper-layer composite cloth, lower-layer composite cloth, a ventilation interlayer and an air charging and discharging device, wherein the upper-layer composite cloth and the lower-layer composite cloth are connected to form an air cavity, and the ventilation interlayer is arranged between the upper-layer composite cloth and the lower-layer composite cloth. The upper layer of composite cloth and the lower layer of composite cloth are matched to form a plurality of array units with branched structures, and a composite Bellow array configuration is formed. According to the invention, the contact area of adjacent array units is increased through the composite Bellow array configuration, the output force of the exoskeleton auxiliary bending is improved, the fitting performance of the exoskeleton and the contour of the human elbow is improved through the extensibility of the adaptive mechanism, the mechanical impedance during auxiliary bending is reduced, the auxiliary bending movement range is expanded, and the wearing comfort of the exoskeleton is improved.
Description
Technical Field
The invention relates to the technical field of soft body rehabilitation exoskeletons, in particular to an elbow-worn exoskeleton based on a composite Bellow array.
Background
The elbow joint dysfunction caused by stroke, sports injury, spinal injury, parkinsonism and the like significantly reduces the daily activity ability of the patient, and daily activities such as eating, writing, lifting objects and the like are seriously hindered, thereby reducing the quality of life of the patient. The development of wearable rehabilitation exoskeletons provides important tools for elbow function assistance and rehabilitation training of patients.
The traditional rigid elbow rehabilitation exoskeleton has the defects of large mass, complex mechanism, joint dislocation and the like; the software rehabilitation exoskeleton developed recently improves the safety of the device and simplifies the design of the mechanism, but the problems of insufficient output force, overlarge mechanical impedance in the assisting process and limited assisting movement range generally exist, and the application of the elbow software exoskeleton in rehabilitation training and daily life is limited.
Through retrieval, patent document CN113304016A discloses an elbow exoskeleton structure based on a 3-PRR plane parallel mechanism, wherein the exoskeleton is composed of a plane parallel mechanism link mechanism, a gear set, a supporting device, a driving motor and the like, and can drive an elbow to move and assist in rehabilitation training; however, the parts forming the exoskeleton are large in mass, various and complex, need a fixed support frame and are not portable.
Patent document CN113288731A discloses a wearable flexible upper limb assisting exoskeleton based on a foldable fabric soft driver, which has better safety; the elbow driving module is folded to form a simple square airbag array, the simple square airbag array is mutually contacted and extruded after being inflated and expanded, the output force is small, the elbow outer contour line extension caused by elbow joint human kinematics is not considered in the design, the fitting performance of the exoskeleton and a human body is poor, large mechanical impedance exists during auxiliary bending, the wearing comfort is insufficient, and the application of the elbow driving module in assistance and rehabilitation training is limited.
Therefore, there is a need to design an elbow rehabilitation exoskeleton, which has a sufficient output force while maintaining safety and comfort, and also reduces mechanical impedance introduced by extension of an elbow outline, increases an auxiliary motion range, and improves comfort based on human kinematics, thereby widening applications of the elbow exoskeleton in actual rehabilitation training and auxiliary tasks.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an elbow-wearing exoskeleton based on a composite Below array, the output force of the rehabilitation exoskeleton is improved through the composite Below array, the fitting performance of the exoskeleton is enhanced through an adaptive mechanism, the mechanical impedance during auxiliary movement is reduced, the auxiliary movement range is enlarged, and the wearing comfort is improved.
According to the invention, the elbow-wearing exoskeleton based on the composite Bellow array comprises: the device comprises a soft elbow guard and a composite Below array driver, wherein the composite Below array driver is fixedly connected with the outer side of the soft elbow guard, and an adaptive mechanism is formed at the connection part of the composite Below array driver and the soft elbow guard; the composite Bellow array driver comprises upper composite cloth, lower composite cloth, an air ventilation interlayer and an air inflation and deflation device, wherein the upper composite cloth and the lower composite cloth are connected to form an air cavity with air tightness; the upper-layer composite cloth and the lower-layer composite cloth are matched to form a plurality of array units with branched structures, any branched structure is located on one side far away from the lower-layer composite cloth, and the array units form a composite Bellow array structure.
Preferably, magic subsides and elasticity cloth basement are dressed including the elbow pad to software elbow pad, the elbow pad is dressed the magic and is pasted the setting and be in elasticity cloth basement.
Preferably, the lower layer composite cloth is connected to the outer side of the elastic cloth substrate through sewing.
Preferably, the adapting mechanism comprises a triangular structure formed by the composite Bellow array driver and the soft elbow guard in a matched mode, and the adapting mechanism has an extending performance and can be opened or closed.
Preferably, the compound Bellow array driver comprises a rigid confinement frame, one arranged at each bifurcation of the array unit.
Preferably, two ends of the soft elbow guard are respectively provided with a stopping force transmission block, and the stopping force transmission blocks are used for limiting the composite Bellow array driver.
Preferably, the locking force transmission block is of a hollow structure and used for reducing weight.
Preferably, the composite Bellow array driver comprises an air pipe, and one end of the air pipe is connected with the air cavity.
Preferably, the upper layer composite cloth and the lower layer composite cloth both comprise knitted TPU film-covered composite cloth, and the ventilation interlayer comprises a latticed plastic pad.
Preferably, the air cavity can be expanded or contracted, and the branched structures of the array units are used for guiding the array units to expand laterally; when the air cavity is inflated and expanded, the array units are expanded and expanded, and any two adjacent array units are contacted and pressed with each other to provide output force for the exoskeleton.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, the upper layer of composite cloth and the lower layer of composite cloth are matched to form a plurality of array units with the branched structures, and the branched structures guide the array units to expand laterally, so that the extrusion area of the adjacent array units is increased, the output force of the exoskeleton is improved, and the application of the elbow exoskeleton in actual rehabilitation training and auxiliary tasks is widened.
2. According to the exoskeleton driving device, the rigid restraint frame is used, when the exoskeleton driving device is driven, the expansion of the upper side and the lower side of the array units is limited by the rigid restraint frame, the lateral expansion effect is enhanced, the surface contact effect of the adjacent array units is further enhanced, the output force of the exoskeleton is further improved, and meanwhile, the overall rigidity of the structure is enhanced through the rigid-flexible coupling design, and the stability of the driving process is guaranteed.
3. The stopping force transmission blocks are arranged on the two sides of the composite Bellow array driver, so that the direction of extrusion force is changed to be perpendicular to the arms, the force transmission effect is maximized, and the output force of the exoskeleton is increased.
4. The invention is beneficial to improving the output force of the exoskeleton assisting in elbow bending through the composite Bellow configuration design, the enhancement effect of the cooperation of the rigid restraint frame and the force transmission stop block.
5. According to the invention, the driving part is provided with the stretching performance through the triangular adaptive mechanism formed by connecting the bottom of the composite Bellow array driver and the soft elbow guard, and can be unfolded and attached to the extended elbow profile when the elbow is bent, so that the mechanical impedance is favorably reduced, the auxiliary motion range is favorably expanded, and the wearing comfort is favorably improved.
6. The invention has the characteristics of large output force, low mechanical impedance, wide auxiliary motion range and high wearing comfort, widens the application scenes, and has the characteristics of safety, portability, simple structure and good practical capability.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic view of the overall wearing of an elbow-worn exoskeleton according to the present invention, which is mainly embodied in a composite Bellow array;
FIG. 2 is a schematic diagram of the overall structure of an elbow-worn exoskeleton according to the present invention, which is mainly embodied in the form of a composite Bellow array;
FIG. 3 is a schematic structural diagram of an adaptive mechanism formed by the composite Below array driver and the soft elbow pad according to the present invention;
fig. 4 is an exploded view of the overall structure of the composite bell actuator embodying the present invention.
In the figure:
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will aid those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any manner. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the invention.
As shown in figure 1, the invention provides an elbow-wearing exoskeleton based on a composite Below array, which comprises a soft elbow guard 1 and a composite Below array driver 2, wherein the composite Below array driver 2 is fixedly connected with the outer side of the soft elbow guard 1, and the composite Below array driver 2 provides auxiliary output force for the exoskeleton, so that the soft elbow guard 1 drives the human elbow to move.
As shown in fig. 2, the soft elbow pad 1 comprises an elbow pad wearing hook and loop fastener 11 and an elastic fabric substrate 12, a pair of elbow pad wearing hook and loop fasteners 11 are sewn at both ends of the elastic fabric substrate 12, and the elbow pad wearing hook and loop fastener 11 enables the soft elbow pad 1 to be conveniently fixed on the hand of a user.
As shown in fig. 3, the bottom of the composite bell array driver 2 is connected to the outer side of the elastic fabric substrate 12 of the soft elbow pad 1 by sewing to form an adaptation mechanism, the adaptation mechanism includes a plurality of adjacent triangular structures, the triangular structures are folded from the bottom of the composite bell array driver 2 to form two sides of a triangle, the elastic fabric substrate 12 forms the other side of the triangle, and corners of the triangular structures have stretch folding performance, the adaptation mechanism formed by matching the plurality of triangular structures can be unfolded when the elbow is bent, and the two sides of the triangle formed by folding the bottom of the composite bell array driver 2 are attached to an extended elbow contour line, so that the mechanical impedance is reduced, and the auxiliary motion range is expanded.
When the elbow is straightened, the included angle of two sides of the triangle formed by folding the bottom of the composite Bellow array driver 2 is reduced, and the adaptive mechanism formed by a plurality of triangle structures is folded. This application strengthens the laminating nature of ectoskeleton through adaptation mechanism, mechanical impedance when reducing the auxiliary motion, and the increase auxiliary motion scope promotes and dresses the travelling comfort.
As shown in fig. 4, the composite bell array driver 2 includes an upper composite cloth 21, a lower composite cloth 22, a ventilation interlayer 23, a rigid restraint frame 24, and an air inflation/deflation device. The upper layer composite cloth 21 and the lower layer composite cloth 22 are connected through hot pressing to form an air cavity with air tightness. The upper-layer composite cloth 21 is folded and hot-pressed for multiple times and is matched with the lower-layer composite cloth to form a plurality of array units with branched structures, any branched structure is located on one side far away from the lower-layer composite cloth, an air cavity is formed in any array unit, and the plurality of array units form a composite Bellow array structure. The bifurcation structure can guide the array units to expand laterally, so that the extrusion area of two adjacent array units is increased, the output force of the exoskeleton is improved, and the composite Bellow array configuration improves the output gripping force.
Further, the ventilation interlayer 23 is installed between the upper composite cloth 21 and the lower composite cloth 22, the ventilation interlayer 23 needs to be inserted in the middle when the upper composite cloth 21 and the lower composite cloth 22 are connected in a hot pressing mode, and the ventilation interlayer 23 is used for air circulation of air cavities in any adjacent array unit.
Furthermore, the inflation and deflation device is used for inflating or deflating the air cavity and comprises an air pipe 26, the air pipe 26 is installed at one end of the composite Bellow array structure, the air pipe 26 is communicated with the air cavity, the inflation and deflation device inflates the air cavity through the air pipe 26, the array units expand and expand under the action of driving air pressure, the surfaces of the adjacent array units are mutually contacted to generate extrusion force, the air cavity generates bending motion, meanwhile, bending force is generated, and auxiliary output force of the exoskeleton is formed in application.
As shown in fig. 2, the rigid constraining frame 24 is manufactured by a 3D printing process, the rigid constraining frame 24 is installed one at the bifurcation of each array unit by M2 bolts and nuts, and the rigid constraining frame 24 forms a constraint on the upper and lower sides of the array unit. Under the action of driving air pressure, the inflated array units expand and expand, the surfaces of the adjacent array units are in mutual contact to generate extrusion force, the extrusion force is influenced by the rigid restraining frame 24, the lateral expansion effect is enhanced, the mutual contact effect of the surfaces of the adjacent array units is enhanced, and the function of increasing the output force of the exoskeleton is achieved. Meanwhile, the overall rigidity of the structure is enhanced by the rigid-flexible coupling design, and the stability of the driving process is ensured.
Two ends of the soft elbow guard 1 are respectively provided with a stop force transmission block 25, and the stop force transmission blocks 25 are connected to two sides of the composite Below array configuration through slow concentrated glue to limit the composite Below array driver 2. The end force transmission block 25 is manufactured through a 3D printing process, and the end force transmission block 25 is of a hollow structure with the wall thickness of 2mm and used for reducing weight. Under the action of driving air pressure, the array units are mutually extruded, two sides of the composite Below array structure are mutually abutted against the stopping force transfer block 25, the stopping force transfer block 25 is in contact with and extruded from a right-angle surface of the stopping force transfer block 25 due to the geometric shape of a right-angled triangle, and the composite Below array driver 2 is expanded, so that the direction of extrusion force is changed to be perpendicular to the arm, the force transfer effect is maximized, and the output force of the exoskeleton is increased.
Preferred example 1
Based on the basic embodiment, the elastic fabric substrate 12 of the soft elbow pad 1 is made of elastic thread cuff fabric and is cut by hand, and the size of the elastic thread cuff fabric is customized according to the specific size of the arm of the user.
Magic subsides 11 are dressed to the elbow pad of software elbow pad 1 adopt baby's magic subsides can improve man-machine compatibility.
The upper-layer composite cloth 21 and the lower-layer composite cloth 22 both adopt knitted TPU film-coated composite cloth, thermoplastic TPU film layers can guarantee hot pressing process and air cavity airtightness, and the ventilation interlayer 23 adopts a grid-shaped plastic mat.
Modification 2
Based on the basic embodiment, the number of array units of the composite bell array driver 2 can be adjusted according to specific requirements.
The working principle is as follows:
compressed air enters a closed air cavity of the array unit formed by the upper-layer composite cloth 21, the lower-layer composite cloth 22 and the ventilation interlayer 23 through an air pipe 26, so that each array unit is expanded; the surfaces of adjacent array units are contacted with each other to generate extrusion force, the air cavity can generate bending motion and bending force, and the auxiliary output force of the exoskeleton is formed in application. When driven, the rigid restraint frame 24 restricts the expansion of the upper and lower sides of the array unit, so that the side expansion effect of the unit is enhanced, the mutual contact action of the surfaces of the adjacent units is further enhanced, and the output force of the exoskeleton is further improved. Due to the geometrical shape of the right triangle, the direction of extrusion force of the stopping force transmission blocks 25 on the two sides of the array unit is changed to be perpendicular to the arms, so that the force transmission effect is maximized, the output force of the exoskeleton is increased, and the application of the exoskeleton in actual rehabilitation training and auxiliary tasks is realized.
In the description of the present application, it is to be understood that the terms "upper", "lower", "two sides", "adjacent", "lateral", "vertical", "inner", "outer", "bottom", and the like, indicate orientations and positional relationships based on the orientations and positional relationships shown in the drawings, are only for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (7)
1. An elbow-worn exoskeleton based on a composite Bellow array, comprising: the elbow guard comprises a soft elbow guard (1) and a composite Below array driver (2), wherein the composite Below array driver (2) is fixedly connected with the outer side of the soft elbow guard (1), and an adaptive mechanism is formed at the joint of the composite Below array driver (2) and the soft elbow guard (1);
the composite Bellow array driver (2) comprises an upper layer of composite cloth (21), a lower layer of composite cloth (22), a ventilation interlayer (23) and an air inflation and deflation device, wherein the upper layer of composite cloth (21) is connected with the lower layer of composite cloth (22) to form an air cavity with air tightness, the air inflation and deflation device is used for inflating or deflating the air cavity, and the upper layer of composite cloth (21) is connected with the lower layer of composite cloth (22) through hot pressing to form the air cavity with air tightness;
the ventilation interlayer (23) is arranged between the upper-layer composite cloth (21) and the lower-layer composite cloth (22), and the ventilation interlayer (23) is used for gas circulation in the air cavity;
the ventilation interlayer (23) is used for air circulation of air cavities in any adjacent array unit;
the upper-layer composite cloth (21) and the lower-layer composite cloth (22) are matched to form a plurality of array units with branched structures, any branched structure is located on one side far away from the lower-layer composite cloth (22), and the array units form a composite Bellow array structure;
the air cavities can expand or contract, and the branched structures of the array units are used for guiding the array units to expand laterally; when the air cavity is inflated and expanded, the array units are expanded and expanded, any two adjacent array units are contacted and extruded with each other, and output force is provided for the exoskeleton;
the adaptive mechanism comprises a triangular structure formed by matching the composite Bellow array driver (2) and the soft elbow guard (1), and has an extension performance and can be opened or closed;
the composite Bellow array driver (2) comprises rigid restraint frames (24), and the rigid restraint frames (24) are arranged at the bifurcation of each array unit.
2. The elbow-worn exoskeleton as claimed in claim 1, wherein both ends of the soft elbow pad (1) are respectively provided with a stopping force-transmitting block (25), and the stopping force-transmitting blocks (25) are used for limiting the composite Below array driver (2).
3. The elbow wearable exoskeleton of claim 2 based on the composite Bellow array, wherein the stop force transfer block (25) is of an openwork structure.
4. The compound Bellow array based elbow wearable exoskeleton of claim 1, wherein the inflation and deflation device comprises an air tube (26), and one end of the air tube (26) is communicated with the air cavity.
5. The compound Bellow array based elbow wearable exoskeleton of claim 1, wherein the soft elbow guard (1) comprises an elbow guard wearing magic tape (11) and an elastic cloth substrate (12), and the elbow guard wearing magic tape (11) is disposed on the elastic cloth substrate (12).
6. The composite Bellow array based elbow-worn exoskeleton of claim 5, wherein the lower composite cloth (22) is attached to the outside of the elastic cloth substrate (12) by sewing.
7. The composite Bellow array based elbow-worn exoskeleton of claim 1, wherein the upper and lower composite cloths (21, 22) each comprise a knitted TPU coated composite cloth and the ventilation barrier (23) comprises a latticed plastic mat.
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| CN202111233540.0A CN113925743B (en) | 2021-10-22 | 2021-10-22 | Elbow wearable exoskeleton based on composite Bellow array |
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