CN114392131B - Passive ectoskeleton booster unit of hip knee joint based on energy storage - Google Patents
Passive ectoskeleton booster unit of hip knee joint based on energy storage Download PDFInfo
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- CN114392131B CN114392131B CN202210144040.8A CN202210144040A CN114392131B CN 114392131 B CN114392131 B CN 114392131B CN 202210144040 A CN202210144040 A CN 202210144040A CN 114392131 B CN114392131 B CN 114392131B
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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
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
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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
- A61H1/0218—Drawing-out devices
-
- 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
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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
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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
- A61H2003/007—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
- A61H2201/01—Constructive details
- A61H2201/0165—Damping, vibration related features
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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
- A61H2201/1652—Harness
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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
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
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- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
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- Animal Behavior & Ethology (AREA)
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Abstract
The invention discloses a hip-knee joint passive exoskeleton power assisting device based on energy storage, and belongs to the technical field of lower limb exoskeleton. The waist fixing component provides a fixed mounting platform for the thigh energy storage component and the shank energy storage component, the thigh energy storage component and the shank energy storage component respectively pass through the designed first elastic element and the second elastic element, when the thigh swings backwards in the later stage of the supporting phase, the first elastic element is stretched to absorb the negative work made when the thigh swings backwards, and the energy is restored and released in the earlier stage of the swinging phase to provide the hip joint buckling auxiliary moment; when the lower leg extends forwards in the later period of the swing, the second elastic element is stretched to absorb the negative work produced when the lower leg extends forwards, the negative work produced when the lower leg extends forwards is converted into elastic potential energy, and the elastic potential energy is restored to provide the hip joint extension auxiliary moment when the thigh swings backwards in the earlier period of the support. Namely, in the whole gait cycle, the extension and the flexion of the hip joint are assisted, and the power assisting efficiency of the exoskeleton is improved.
Description
Technical Field
The invention belongs to the technical field of lower limb exoskeleton, and particularly relates to a hip-knee joint passive exoskeleton power assisting device based on energy storage.
Background
Walking is one of the most common movements in people's daily life, and people can take tens of thousands of steps each day on average. However, a great amount of energy is consumed in the walking process, and although people can optimize their own walking strategies according to different road conditions to reduce energy consumption as much as possible, the walking distance of people is still limited due to insufficient physical strength. In addition, for some people with dyskinesia or dyskinesia, such as heavy people, the elderly, and patients with lower limb arthritis, the reduction of walking efficiency brings great obstacles to daily life. Therefore, the exoskeleton capable of reducing the consumption of walking metabolic energy has strong application value.
Existing exoskeleton devices can be divided into active and passive exoskeleton devices. The active exoskeleton mainly adopts a motor to assist a human body, and the aim of reducing the metabolic energy is difficult to achieve due to the defects of heavy weight, poor flexibility and the like. The passive exoskeleton can improve the walking efficiency of a user by recycling and utilizing energy in a walking cycle without the assistance of a motor, so that the weight can be greatly reduced, the passive exoskeleton is convenient to wear, and is more suitable for being used in daily life. The conventional passive exoskeleton device can only realize auxiliary hip joint extension or auxiliary hip joint flexion, cannot simultaneously realize auxiliary hip joint extension and flexion, and has limited assisting efficiency. Moreover, the existing passive exoskeleton device can only play a role in one or two periods of the early stage of the support phase, the late stage of the support phase, the early stage of the swing phase or the late stage of the swing phase in a gait cycle, but cannot provide the assistance to the exoskeleton in the whole gait cycle.
Disclosure of Invention
Aiming at the defects and improvement requirements of the prior art, the invention provides a hip-knee joint passive exoskeleton power assisting device based on energy storage, and aims to simultaneously realize the extension and the flexion of a hip joint and improve the exoskeleton power assisting efficiency in the whole gait cycle.
In order to achieve the above object, the present invention provides an energy storage based passive exoskeleton assisting device for hip and knee joints, comprising: the waist fixing component, the thigh energy storage component and the shank energy storage component are arranged on the upper portion of the waist fixing component;
the waist fixing component is fixed on the waist of a user and used for providing a fixed mounting platform for the thigh energy storage component and the shank energy storage component;
two groups of thigh energy storage assemblies are arranged, each group of thigh energy storage assemblies comprises a first elastic element, a thigh pulling rope and a thigh binding belt, two ends of the thigh pulling rope are respectively connected with the first elastic element and one end of the thigh binding belt, the other ends of the first elastic element and the thigh binding belt are respectively arranged on the front side of the waist fixing assembly and the thighs, the first elastic elements are stretched when the thighs are swung backwards in the supporting phase, and the elastic potential energy of the first elastic elements is not more than negative work done when the thighs are swung backwards;
two groups of shank energy storage assemblies are arranged, each group of shank energy storage assemblies comprises a second elastic element, a shank pull rope and a shank binding band, two ends of the shank pull rope are respectively connected with the second elastic element and one end of the shank binding band, the other ends of the second elastic element and the shank binding band are respectively arranged on the rear side of the waist fixing assembly and the shank, the second elastic element is stretched when the shank extends forwards in the later period of the swinging phase, and the elastic potential energy of the second elastic element is not more than the negative work when the shank extends forwards.
Further, the stiffness K of the first elastic element 1 The value range is as follows: k is more than 0 1 Less than or equal to 3.5kN/m; stiffness K of the second elastic element 2 The value range is as follows: k is more than or equal to 1.5 2 ≤4.0kN/m。
Further, the stiffness of the first elastic element is 2.3kN/m and the stiffness of the second elastic element is 3.0kN/m.
Further, the first elastic element or the second elastic element is a tension spring or an elastic band.
Further, the fixed subassembly of waist includes upper portion waistband, lower part waistband, waist board and hangs the roof beam unit, the waist board divide into bilateral symmetry's two and fixes respectively in user's back waist department, upper portion waistband and lower part waistband pass respectively the waist board is fixed in user's epigastric part and lower abdomen, it sets up to hang the roof beam unit on the waist board, and with first elastic element and second elastic element elasticity link to each other.
Furthermore, the cantilever beam unit comprises a transverse cantilever beam, transverse cantilever beam fixing parts arranged at two ends of the transverse cantilever beam, two side cantilever beams, side cantilever beam fixing parts arranged at one ends of the two side cantilever beams and two rear cantilever beams, wherein the transverse cantilever beam fixing parts and the side cantilever beam fixing parts are connected in a locking manner through buckles and are used for fixedly connecting the transverse cantilever beam and the two side cantilever beams; the other ends of the two side suspension beams are fixedly connected with the two sides of the waist plate; one end of each rear suspension beam is fixedly connected with the lower part of the waist plate, and the other end of each rear suspension beam is elastically connected with the second elastic element.
Furthermore, a plurality of mounting holes are formed in the cross suspension beam, and one end of the first elastic element is elastically connected with the cross suspension beam through the mounting holes.
Further, the thigh pull rope and the shank pull rope are adjustable in length.
Furthermore, the thigh pull rope, the calf pull rope, the thigh bandage and the calf bandage are made of flexible materials, the transverse suspension beam and the two side suspension beams are made of carbon fiber plates, and the waist plate is made of resin or nylon glass fiber.
Furthermore, a reinforcing rib is arranged on the waist plate and arranged along the stress direction of the waist plate.
Generally, by the above technical solution conceived by the present invention, the following beneficial effects can be obtained:
(1) According to the passive exoskeleton power assisting device designed by the invention, a fixed mounting platform is provided for a thigh energy storage assembly and a shank energy storage assembly through a waist fixing assembly, the thigh energy storage assembly and the shank energy storage assembly respectively pass through a first elastic element and a second elastic element which are designed, when a thigh swings backwards in a supporting phase, the first elastic element is stretched, the elastic potential energy of the elastic element is not more than negative work done when the thigh swings backwards, the negative work done when the thigh swings backwards can be absorbed, and the energy is restored and released in a swinging phase to provide a hip joint flexion auxiliary moment; when the lower leg extends forwards in the later period of the swing, the second elastic element is stretched, the elastic potential energy of the elastic element is not more than the negative work done when the lower leg extends forwards, the negative work done when the lower leg extends forwards is absorbed, the negative work done when the lower leg extends forwards is converted into the elastic potential energy, and the elastic potential energy is restored to provide the hip joint extension auxiliary moment when the upper leg swings backwards in the earlier period of the support. In the whole gait cycle, the extension and the flexion of hip joints are assisted, the power assisting efficiency of the exoskeleton is improved, the walking efficiency is improved, and the metabolic energy consumption of a human body and the stress of related muscles of lower limbs can be effectively reduced during walking.
(2) Preferably, when the first elastic element and the second elastic element meet a certain rigidity requirement range, the elastic potential energy of the elastic elements is not greater than the negative work of the thigh when the thigh swings backwards or the shank stretches forwards when the first elastic element or the second elastic element is stretched, and the assistance requirement is met.
(3) Preferably, when the stiffness of the first elastic element is 2.3kN/m and the stiffness of the second elastic element is 3.0kN/m, the elastic potential energy of the first elastic element and the second elastic element is just equal to the negative work performed when the thigh is swung backwards and the shank is stretched forwards respectively, namely the negative work performed by the thigh and the shank in the whole gait cycle is just converted into the elastic potential energy of the elastic elements, and the metabolic energy consumption of the human body is lowest.
(4) According to the passive exoskeleton power assisting device, the thigh binding belt, the shank binding belt, the thigh pull rope and the shank pull rope are all in a flexible wearing mode, so that the passive exoskeleton power assisting device can be self-adaptive to users with different body types, and meanwhile motion limitation caused by poor coupling of an exoskeleton rigid frame and a human body can be avoided.
(5) According to the passive exoskeleton assisting device, the upper waistband is bound on the upper abdomen of a user, so that the waist plate can be prevented from being inclined backwards when the rear suspension beam is stressed, the lower waistband is bound on the lower abdomen of the user, the waist fixing component can be prevented from falling off when the waist fixing component is stressed, and the tightness can be adjusted according to the body type of the user.
(6) According to the passive exoskeleton power assisting device, the reinforcing ribs arranged on the waist plate can enhance the strength and the bending resistance of the waist plate.
In conclusion, the invention can simultaneously realize the extension and the flexion of the hip joint in the whole gait cycle and improve the assistance efficiency of the exoskeleton. The device is a pure passive exoskeleton power assisting device, does not use electronic elements such as a motor and a sensor, and has the advantages of light weight, high robustness, convenience in wearing and the like.
Drawings
Fig. 1 is a schematic structural diagram of a hip-knee joint passive exoskeleton power assisting device based on energy storage.
Fig. 2 is an enlarged schematic view of a partial structure of the hip-knee passive exoskeleton power assisting device based on energy storage provided by the invention.
Fig. 3 is a wearing schematic diagram of the hip-knee joint passive exoskeleton power assisting device based on energy storage provided by the invention.
Fig. 4 is a schematic diagram of the exoskeleton assistance device of the present invention with assistance during the entire gait cycle.
The same reference numbers will be used throughout the drawings to refer to the same or like elements or structures, wherein:
1-upper waistband, 2-lower waistband, 3-side suspension beam, 4-first elastic element, 5-thigh pull rope, 6-thigh strap, 7-shank strap, 8-waist plate, 9-rear suspension beam, 10-second elastic element, 11-shank pull rope, 12-transverse suspension beam, 13-transverse suspension beam fixing part and 14-side suspension beam fixing part.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the respective embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
In the present invention, the terms "first", "second", and the like in the description and the drawings are used for distinguishing similar objects, and are not necessarily used for describing a particular order or sequence.
As shown in fig. 1-3, the passive exoskeleton power assisting device for hip and knee joints based on energy storage provided by the invention comprises three major parts, namely a waist fixing component, a thigh energy storage component and a shank energy storage component. The waist fixing component is fixed on the waist of a user and used for providing a fixing and mounting platform for the thigh energy storage component and the shank energy storage component.
And the thigh energy storage assemblies are arranged in two groups and are arranged on the front side of the waist fixing assembly and the thighs in bilateral symmetry (one end of each assembly is connected with the front side of the waist fixing assembly, and the other end of each assembly is fixed on the thighs) of the user for converting the hip joint extension negative work into the hip joint flexion auxiliary moment. Specifically, the first elastic element 4 arranged in the assembly is stretched when the thigh swings backwards in the later supporting phase, the elastic potential energy of the elastic element is not more than the negative work done when the thigh swings backwards, so that the negative work done by hip joint extension in the later thigh swinging can be converted into the elastic potential energy of the first elastic element, and the first elastic element is restored to release the elastic potential energy when the shank extends forwards in the earlier swinging phaseAnd provides the auxiliary moment for hip joint flexion. In particular, when the stiffness K of the first elastic element 4 is 1 The value range of (A) is as follows: k is more than 0 1 When the elastic potential energy of the elastic element is less than or equal to 3.5kN/m, the elastic potential energy of the elastic element is not more than negative work when the thigh swings backwards, and the assistance requirement when the thigh swings backwards is supported is realized.
The lower leg energy storage assemblies are arranged in two groups and are symmetrically arranged on the rear side of the waist fixing assembly and the lower legs of the user in a bilateral mode (one end of each lower leg energy storage assembly is connected with the rear side of the waist fixing assembly, and the other end of each lower leg energy storage assembly is fixed on the lower leg). Specifically, the second elastic element 10 arranged in the assembly is stretched when the lower leg is stretched in the later period of the swing phase, and the elastic potential energy of the elastic element is not more than the negative work done when the lower leg is stretched in the forward direction, so that the negative work done by the knee joint stretching in the forward direction of the lower leg can be converted into the elastic potential energy of the second elastic element, and the second elastic element is restored to release the elastic potential energy when the upper leg swings backwards in the earlier period of the support phase, and the hip joint stretching auxiliary moment is provided. In particular, when the stiffness K of the second elastic element 10 is high 2 The value range is as follows: k is more than or equal to 1.5 2 When the elastic potential energy of the elastic element is less than or equal to 4.0kN/m, the elastic potential energy of the elastic element is not more than negative work when the lower leg extends forwards, and the assistance requirement when the lower leg extends forwards in a swinging way is realized.
Wherein, the first elastic element 4 or the second elastic element 10 is a tension spring or an elastic band. In this embodiment, the first elastic element and the second elastic element are a thigh tension spring and a shank tension spring, respectively.
When the device is used, when the thigh swings backwards in the later stage of the supporting phase, the thigh energy storage assembly absorbs negative work produced during the thigh swinging backwards, a thigh tension spring arranged in the thigh energy storage assembly is stretched, the produced negative work is converted into elastic potential energy of the tension spring, and the energy (elastic potential energy) is restored and released in the earlier stage of the swinging phase to provide a hip joint buckling auxiliary moment; when the lower leg extends forwards in the later period of the swing, the lower leg energy storage assembly absorbs negative work produced when the lower leg extends forwards, the lower leg tension spring is stretched, the negative work produced when the lower leg extends forwards is converted into elastic potential energy, and the elastic potential energy is restored to provide hip joint extension auxiliary moment when the upper leg swings backwards in the earlier period of the support phase. Therefore, the invention can provide the hip joint auxiliary torque by utilizing the conversion of negative work during walking, can improve the walking efficiency and reduce the consumption of metabolic energy.
Specifically, the waist fixing component comprises an upper waistband 1, a lower waistband 2, a waist board 8 and a suspension beam unit, wherein the waist board 8 is divided into two bilaterally symmetrical pieces which are respectively fixed at the back waist of a user and used for providing a connecting platform for the thigh energy storage component and the shank energy storage component. The upper waistband 1 and the lower waistband 2 respectively penetrate through two sides of the waistband 8 to be bound on the upper abdomen and the lower abdomen of a user, and the tightness of the upper waistband 1 and the lower waistband 2 can be adjusted according to the body type of the user. The upper waistband 1 can prevent the waist plate from inclining backwards when the rear suspension beam 9 is stressed, and the lower waistband 2 can prevent the waist fixing component from falling off when the waist fixing component is stressed.
Preferably, the waist plate is provided with a reinforcing rib, and the reinforcing rib is arranged along the stress direction of the waist plate, so that the strength and the bending resistance of the waist plate can be enhanced. And the weight-reducing holes are also arranged, so that the weight of the device can be reduced.
The suspension beam unit is disposed on the waist panel 8 and is elastically connected to the first elastic member 4 and the second elastic member 10. The suspension beam unit comprises a transverse suspension beam 12, transverse suspension beam fixing pieces 13 arranged at two ends of the transverse suspension beam 12, two side suspension beams 3, side suspension beam fixing pieces 14 arranged at one ends of the two side suspension beams 3 and two rear suspension beams 9. The other ends of the two side suspension beams 3 are fixedly connected with the two sides of the waist plate 8; the side suspension beam is provided with a plurality of groups of mounting holes which can be adjusted according to the body type of a user. Preferably, the side suspension member fixing members 14 are fixed to the mounting holes of the side suspension members 3 by screws, and the cross suspension member fixing members 13 are fixed to the mounting holes of the cross suspension members 12 by screws. The side suspension beam fixing part 14 and the cross suspension beam fixing part 13 are fixed through bolts in a penetrating mode, and a buckling locking mode is arranged between the side suspension beam fixing part and the cross suspension beam fixing part to prevent the side suspension beam fixing part and the cross suspension beam fixing part from rotating relative to each other and is used for fixedly connecting the cross suspension beam 12 and the two side suspension beams 3. The both ends of the transverse suspension beam 12 are provided with a transverse suspension beam fixing part 13 which is arranged on the front side of the abdomen of a human body, a plurality of mounting holes are arranged on the transverse suspension beam 12, one end of the first elastic element 4 is elastically connected with the transverse suspension beam 12 through the mounting holes on the transverse suspension beam, and the position of the first elastic element hung on the transverse suspension beam can be adjusted according to the body type of a user.
One ends of the two rear suspension beams 9 are fixed at the lower part of the waist plate 8 through screws, and the other ends are respectively and elastically connected with a second elastic element 10.
Preferably, the waist fixing member is made by 3D printing for weight reduction. The transverse suspension beam 12 and the two side suspension beams 3 are made of carbon fiber plates, and the waist plate 8 is made of resin or nylon glass fiber.
Preferably, the material of the thigh pull cord 5, the calf pull cord 11, the thigh strap 6 and the calf strap 7 is a flexible material.
The thigh energy storage assembly comprises a first elastic element 4, a thigh pull rope 5 and a thigh binding belt 6, wherein two ends of the thigh pull rope 5 are respectively connected with one end of the first elastic element 4 and one end of the thigh binding belt 6 and used for transmitting the pulling force of the first elastic element 4 and the thigh binding belt 6; the length of the thigh pull cord can be adjusted such that the first elastic element (in this embodiment, the thigh tension spring) is in a state to be stretched right when the thigh is upright. The other ends of the first elastic element 4 and the thigh bandage 6 are respectively arranged on the front side of the waist fixing component and the thigh, the first elastic element is used for stretching the thigh tension spring when the thigh swings backwards in the supporting phase, and the rigidity K of the first elastic element 4 is 1 The value range is as follows: k is more than 0 1 When the amplitude is less than or equal to 3.5kN/m, the elastic potential energy of the elastic element is not more than the negative work done when the thigh swings backwards, the negative work done when the thigh swings backwards can be absorbed, and the energy is restored and released in the early stage of the swing phase to provide the flexion auxiliary moment of the hip joint; when the stiffness K of the first elastic element 4 1 When the elastic potential energy of the elastic element is more than 3.5kN/m, the negative work done by the elastic element when the thigh swings backwards is larger, and at the moment, the exoskeleton can interfere the natural motion of the human body and cannot play a power assisting effect. A thigh strap 6 is secured to the user's thigh for connecting the thigh energy storage assembly to the user.
The calf energy storage assembly comprises a second elastic element 10, a calf pull rope 11 and a calf binding band 7, two ends of the calf pull rope 11 are respectively connected with the second elastic element 10 (in the embodiment, a calf tension spring) and one end of the calf binding band 7, and the length of the calf pull rope can be adjusted, so that the calf tension spring is just in a state to be stretched when a user stands upright.
The second elastic element 10 and the other of the lower leg strap 7The ends are arranged on the rear side of the lumbar anchoring assembly and on the lower leg, respectively, as the stiffness K of the second elastic element 10 2 The value range is as follows: k is more than or equal to 1.5 2 When the elastic potential energy of the elastic element is less than or equal to 4.0kN/m, the elastic potential energy of the elastic element is not more than the negative work done when the lower leg extends forwards, so that when the lower leg extends forwards in the later period of the swing phase, the lower leg energy storage assembly absorbs the negative work done when the lower leg extends forwards, the lower leg tension spring is stretched, the negative work done when the lower leg extends forwards is converted into the elastic potential energy, and the elastic potential energy is restored to provide the hip joint extension auxiliary moment when the upper leg swings backwards in the earlier period of the support phase; when the stiffness K of the second elastic element 10 2 When the elastic potential energy of the elastic element is more than 4.0kN/m, the elastic potential energy is more than the negative work done when the crus extend forwards, and at the moment, the exoskeleton can interfere the natural motion of the human body and cannot play a power assisting effect. And when K 2 When the elastic potential energy of the elastic element is less than 1.5kN/m, the elastic potential energy is far less than the negative work of the shank when the shank extends forwards, and the elastic element cannot play a role in assisting power at the moment. The shank bandage is bound on the shank of the user and used for connecting the shank energy storage assembly with the user.
Preferably, when the stiffness of the first elastic element 4 is 2.3kN/m and the stiffness of the second elastic element 10 is 3.0kN/m, the elastic potential energy of the first elastic element and the second elastic element is just equal to the negative work done when the thigh is swung backwards and the shank is stretched forwards respectively, i.e. the negative work done by the thigh and the shank in the whole gait cycle is just converted into the elastic potential energy of the elastic elements, and the metabolic energy consumption of the human body is lowest. Wherein the optimal stiffness of the first and second elastic elements is an average of measurements taken on a plurality of subjects of different body weights. When measurements are performed on multiple subjects, there is in fact little difference in the optimal stiffness for each subject.
As shown in fig. 4, which is a schematic diagram of the exoskeleton assisting device of the present invention assisting in walking during the whole gait cycle, when the lower limbs of the user are located at the front side of the human body, the first elastic element is at the original length, the second elastic element is stretched, and the assisting hip joint is stretched; when the lower limbs of the user are positioned at the rear side of the human body, the first elastic element is stretched, the second elastic element is positioned at the original length, and the hip joint is assisted to bend.
It will be understood by those skilled in the art that the foregoing is only an exemplary embodiment of the present invention, and is not intended to limit the invention to the particular forms disclosed, since various modifications, substitutions and improvements within the spirit and scope of the invention are possible and within the scope of the appended claims.
Claims (8)
1. A passive exoskeleton power assisting device of hip and knee joints based on energy storage is characterized by comprising: the waist fixing component, the thigh energy storage component and the shank energy storage component are arranged on the upper portion of the waist fixing component;
the waist fixing component is fixed on the waist of a user and is used for providing a fixed mounting platform for the thigh energy storage component and the shank energy storage component;
the two groups of thigh energy storage assemblies are arranged, each group of thigh energy storage assemblies comprises a first elastic element (4), a thigh pull rope (5) and a thigh binding belt (6), two ends of each thigh pull rope (5) are respectively connected with the first elastic element (4) and one end of each thigh binding belt (6), the other ends of the first elastic elements (4) and the thigh binding belts (6) are respectively arranged on the front side of the waist fixing assembly and the thighs, when the thighs are swung backwards in the later supporting phase, the first elastic elements (4) are stretched, the elastic potential energy of the first elastic elements (4) is not more than the negative work done when the thighs are swung backwards, the negative work done when the thighs are swung backwards swung can be absorbed, and the energy is restored and released in the earlier swinging phase to provide a hip joint bending auxiliary moment;
the energy storage assemblies of the lower legs are provided with two groups, each group of energy storage assemblies of the lower legs comprises a second elastic element (10), a lower leg pull rope (11) and a lower leg binding band (7), two ends of the lower leg pull rope (11) are respectively connected with the second elastic element (10) and one end of the lower leg binding band (7), the other ends of the second elastic element (10) and the lower leg binding band (7) are respectively arranged on the rear side of the waist fixing assembly and the lower legs, when the lower legs extend forwards in the later period of swinging, the second elastic element (10) is stretched, the elastic potential energy of the second elastic element (10) is not more than the negative work when the lower legs extend forwards, the negative work when the lower legs extend forwards can be absorbed, and when the upper legs swing backwards in the earlier period is supported, the hip is restored to provide joint extension auxiliary moment;
the waist fixing component comprises an upper waist belt (1), a lower waist belt (2), a waist plate (8) and a beam hanging unit, the waist plate (8) is divided into two bilaterally symmetrical pieces which are respectively fixed at the back waist of a user, the upper waist belt (1) and the lower waist belt (2) respectively penetrate through the waist plate (8) and are fixed at the upper abdomen and the lower abdomen of the user, and the beam hanging unit is arranged on the waist plate (8) and is elastically connected with the first elastic element (4) and the second elastic element (10);
the suspension beam unit comprises a transverse suspension beam (12), transverse suspension beam fixing pieces (13) arranged at two ends of the transverse suspension beam (12), two side suspension beams (3), side suspension beam fixing pieces (14) arranged at one ends of the two side suspension beams (3) and two rear suspension beams (9), wherein the transverse suspension beam fixing pieces (13) are connected with the side suspension beam fixing pieces (14) in a locking manner through buckles and are used for fixedly connecting the transverse suspension beam (12) and the two side suspension beams (3); the other ends of the two side suspension beams (3) are fixedly connected with the two sides of the waist plate (8); one ends of the two rear suspension beams (9) are fixedly connected with the lower part of the waist plate (8), and the other ends of the two rear suspension beams are respectively and elastically connected with the second elastic element (10).
2. Device according to claim 1, characterized in that the stiffness K of the first elastic element (4) 1 The value range is as follows: k is more than 0 1 Less than or equal to 3.5kN/m; a stiffness K of the second elastic element (10) 2 The value range is as follows: k is more than or equal to 1.5 2 ≤4.0 kN/m。
3. The device according to claim 2, characterized in that the stiffness of the first elastic element (4) is 2.3kN/m and the stiffness of the second elastic element (10) is 3.0kN/m.
4. A device according to any one of claims 1-3, characterized in that the first elastic element (4) or the second elastic element (10) is a tension spring or an elastic band.
5. The device according to claim 1, characterized in that a plurality of mounting holes are provided on the cross member (12), through which one end of the first elastic element (4) is elastically connected to the cross member (12).
6. Device according to claim 5, characterized in that the thigh stay (5) and the calf stay (11) are adjustable in length.
7. The device according to claim 6, characterized in that the thigh pull rope (5), the calf pull rope (11), the thigh strap (6) and the calf strap (7) are made of flexible materials, the cross suspension beam and the two side suspension beams are made of carbon fiber plates, and the waist plate is made of resin or nylon glass fiber.
8. The device as claimed in any one of claims 5 to 7, wherein the waist plate is provided with a reinforcing rib, and the reinforcing rib is arranged along the direction of the stress of the waist plate.
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