CN114404229B - 一种用于下肢康复的柔性可穿戴物执行器 - Google Patents
一种用于下肢康复的柔性可穿戴物执行器 Download PDFInfo
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Abstract
本发明提供了一种用于下肢康复的柔性可穿戴物执行器,包括受力腰带、受力背带、大腿受力支撑和小腿受力支撑和至少两组鲍登线组,受力腰带上设置有驱动大腿套索导向孔;大腿受力支撑包括大腿热塑板,大腿热塑板上设置有驱动大腿受力锚点和膝关节驱动套索导向孔;小腿受力支撑包括小腿热塑曲面板,小腿热塑曲面板上设置有驱动小腿受力锚点和驱动足部套索导向孔;每组鲍登线组均包括大腿驱动鲍登线、膝关节驱动鲍登线和踝关节驱动鲍登线。本发明的具有形变量小、安全舒适、穿戴和拆卸便捷优势,能够以柔性的辅助驱动方式,帮助患者进行康复训练。
Description
技术领域
本发明涉及康复医疗领域,尤其涉及一种用于下肢康复的柔性可穿戴物执行器。
背景技术
根据《中国心血管健康与疾病报告2019》,我国脑卒中患者人数约为1300万,其中900万脑卒中患者的下肢有障碍,每年新增患者人数约200万。数量庞大的患者群催生了大量且未被满足的康复需求。
脑卒中患者通常需要大量的步态康复训练,以通过肌肉刺激大脑控制中枢,形成新的控制回路,逐步恢复下肢康复运动功能。当患者错失恢复黄金期而未进行有效正确的康复训练时,患者下肢可能会发生肌肉萎缩以及产生相应的动作代偿运动。然后目前在康复黄金期内还面临不少挑战。
我国康复领域起步相对较晚,康复人员相对比较缺乏,据统计我国从事康复工作的专业人员不足2万人,康复师资缺口高达30万。但我国人口基数大,导致康复患者人均得到的康复不足,康复质量没法得到充足的保障。
目前也有不少的下肢康复医疗产品帮助康复患者进行康复治疗。但是,目前大多数产品采用的高刚度的机构,舒适性无法保证。同时,由于关节也采用刚性关节驱动,生成的康复训练步态显得僵硬不自然。因此,康复效果还存在很大的提升空间。
郭士杰等在中国发明公开专利“一种柔性外骨骼助力机器人”中提出了一种用于助力的鲍登线驱动式的柔性外骨骼装置,能够实现一定步态相的髋关节的助力活动。但是,该外骨骼仅考虑髋关节的助力活动,并没有实现一个完整的关节的自由度。该设备仅适合与具有完整髋关节功能的用户使用。不适用于下肢失能的中风患者或截瘫患者使用。张明明等在中国公开发明专利“一种助力路径可重构的柔性助行外骨骼系统”中提出了用于髋关节和踝关节助力的鲍登线式柔性外骨骼装置,该装置能够根据行走的步态相位,给人体的髋关节和踝关节提供冲击拉力,从而实现下肢的正功输出,使人体在较小的能量代谢情况下,也可获得较大的运动动能,即实现人体得助力。但该外骨骼也是仅考虑特定关节的特定相位的助力,只能配合关节活动正常的患者使用,无法满足帮助中风患者实现完整的下肢步态的要求。
发明内容
为了解决当前大多数下肢康复器械及康复机器人的穿戴体验差、刚性关节限制多、步态僵硬不自然的缺点,本发明提供了一种用于下肢康复的柔性可穿戴物执行器,主要通过柔性鲍登线传动,穿戴舒适简便、无附件的关节约束,能够实现自然的康复步态训练。
为了实现本发明目的,本发明提供的一种用于下肢康复的柔性可穿戴物执行器,包括受力腰带、受力背带、大腿受力支撑和小腿受力支撑和至少两组鲍登线组,受力腰带及受力背带采用左右对称的结构;
受力腰带和受力背带之间可拆卸连接,并能穿戴在人体上,受力腰带上设置有驱动大腿套索导向孔;
大腿受力支撑用于安装在大腿上,包括大腿热塑板,大腿热塑板上设置有驱动大腿受力锚点和膝关节驱动套索导向孔;
小腿受力支撑用于安装在小腿上,包括小腿热塑曲面板,小腿热塑曲面板上设置有驱动小腿受力锚点和驱动足部套索导向孔;
每组鲍登线组均包括大腿驱动鲍登线、膝关节驱动鲍登线和踝关节驱动鲍登线,大腿驱动鲍登线的线鞘末端固定在驱动大腿套索导向孔上,线芯末端固定在驱动大腿受力锚点上,膝关节驱动鲍登线的线鞘末端固定在膝关节驱动套索导向孔上,线芯末端固定在驱动小腿受力锚点上,踝关节驱动鲍登线的线鞘末端固定在驱动足部套索导向孔上,线芯末端用于与设置在脚上的脚受力锚点固定连接。
进一步地,受力腰带包括包括至少两个低温热塑板单元,低温热塑板单元之间铰接。
进一步地,所述受力背带包括两个背带单元,两个背带单元的两端均与受力腰带卡拆卸连接,且两个背带单元在后侧交叉跨接。
进一步地,大腿热塑板包括两个热塑曲面板单元,大腿受力支撑还包括大腿收紧带,大腿收紧带用于将两个热塑曲面板单元收紧在大腿上。
进一步地,小腿热塑板的形状与小腿腓肠肌的形状一致。利用小腿腓肠肌的外形,限制可穿戴物因驱动力向上拉而产生的形变作用。
进一步地,所述鲍登线组有两组,所述执行器还配设有鞋子,所述脚受力锚点设置在鞋子上,在鞋子上相对于脚跟和脚弓的位置上均均设置有脚受力锚点。通过牵引鞋子上的锚点,拉动鞋子和脚围绕踝关节运动。
进一步地,每根驱动鲍登线的线芯末端设置有挂钩,每根驱动鲍登线的线芯末端和相应受力锚点之间通过挂钩连接。
进一步地,每根驱动鲍登线上均设置有拉力传感器。
进一步地,所述执行器还包括传感器接口,用于安装不同类型的传感器。所述的传感器接口是在康复患者用可穿戴进执行器行康复训练时,需要获取人体的表面肌电信息、血氧心率信息,人和可穿戴之间的交互力信息等。在人体和热塑板内表面、以及拉绳设置相应的传感器安装位置,在需要时可以快速的集成和使用,获取人体的生理及力学参数,用于评估和控制。
进一步地,驱动大腿套索导向孔、驱动大腿受力锚点、膝关节驱动套索导向孔、驱动小腿受力锚点和驱动足部套索导向孔的数量与鲍登线组的数量相等。
进一步地,所述柔性可穿戴物执行器不仅可以用于下肢康复治疗的人机交互媒介,还可以用于柔性可穿戴外骨骼的执行器,包括上肢的和下肢柔性可穿戴物执行器。
与现有技术相比,本发明能够实现的有益效果至少如下:
(1)本发明采用柔性材料和人体进行交互,保证了穿戴的舒适性、安全性。同时柔性材料能够根据外力产生相应的形变,使其更加贴合于人体柔软的下肢组织。
(2)本发明为能够实现下肢完整步态自由度的柔性可穿戴执行器,该执行器可以保证每条腿的髋膝踝关节独立的屈伸运动,不仅可以实现正常人的关节助力,还可辅助下肢失能者实现特定的下肢运动,即可以在外骨骼提供关节驱动力给人体关节,形成以人体关节为运动目标的下肢运动,辅助失能患者的患肢再次动起来,以促进下肢的功能康复。
(3)本发明从人体下肢生理学出发,在不改变原有关节运动的情况下,采用原动——拮抗的仿肌式驱动,帮助肌肉弱化造成的步态异常患者予以辅助力,该发明没有额外增加其他外骨骼的关节,也没有对人体增加其他的约束,在提供助力的同时,保证了外骨骼对下肢其他功能的透明性。每个辅助的关节能实现其辅助方向的全相位运动辅助,同时,该外骨骼考虑了髋膝踝的协同,因此能够帮助中风患者实现完整的下肢康复步态要求。
附图说明
图1为本发明实施例提供的下肢康复柔性可穿戴物执行器示意图。
图2为本发明实施例提供的柔性受力腰带及背带结构示意图。
图3为本发明实施例提供的大腿受力支撑结构示意图。
图4为本发明实施例提供的小腿受力支撑结构示意图。
图5是本发明实施例提供的可穿戴物执行器穿戴在人体上的示意图。
图中,1-受力背带;2-鲍登线组;3-鲍登线鞘受力支撑件;4-大腿受力支撑;5-小腿受力支撑;6-挂钩;7-腰部连接锁紧卡扣;8-热塑板单元;9-大腿热塑板;10—大腿收紧带;11-小腿热塑板;12-小腿锁紧绑带;13-合页铰链安装孔;14-驱动大腿套索导向孔;15—背带卡扣;16-腰带受力件安装孔;17-大腿受力承接件安装孔;18-驱动大腿受力锚点;19-膝关节驱动套索导向孔;20-大腿绑带锁紧卡扣;21-驱动小腿受力锚点;22-驱动足部套索导向前孔;23-小腿绑带锁紧卡扣;24-驱动足部套索导向后孔。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚,下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整的描述,显然,所描述的实施例是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都是本发明保护的范围。
本发明提供的一种用于下肢康复的柔性可穿戴物执行器,包括受力腰带、受力背带1、大腿受力支撑4、小腿受力支撑5、脚受力锚点、至少两组鲍登线组2和传感器接口。请参阅图1-图4,在本发明的其中一些实施例中,设置了两组鲍登线组2,穿戴时,两组鲍登线组2对称设置在大腿的前后两侧、小腿的前后两侧。
在本发明其中一个实施例中,请参阅图2,所述受力腰带主要根据人体的腰部外形,采用低温热塑板根据人体的腰部和胯部外形通过加热塑形——冷却定型而成。其外形类似环形腰带且具有一定的柔性,能保证和人体紧密的贴合,分散应力,保证舒适性。
受力腰带包括两个热塑板单元8,两个热塑板单元8的左右对称,两个热塑板单元8的一端在对应于人体后背的中间位置通过合页铰链安装孔13实现合页铰链连接,可以绕合页轴旋转,张开腰带,方便穿戴和脱下操作,另一端设置有调节孔,在对应于人体前侧位置采用腰部连接锁紧卡扣7锁紧并可实现松紧的调节,通过调节孔方便调节尺寸大小,适用于不同腰围的康复患者使用。与左右大腿上方相对的受力腰带的位置上通过腰带受力件安装孔16均匀搭接有鲍登线鞘受力支撑件3,鲍登线鞘受力支撑件3内侧设置有驱动大腿套索导向孔14。在本发明其中一个实施例中,腰部连接锁紧卡扣7采用蜘蛛扣。
受力背带1通过背带卡扣15与受力背带1连接,受力背带1在后背位置处交叉跨接,保证左右腿受力的均匀,同时由于驱动下肢时需要承受向下的反作用力,通过受力背带1能够有效的限制受力腰带向下运动的应变与趋势。
在本发明的其中一些实施例中,请参阅图3,所述大腿受力支撑4包括大腿热塑板9和大腿收紧带10,大腿热塑板9包括两个热塑曲面板单元,两个热塑曲面板单元之间通过大腿收紧带10连接,大腿收紧带10上设置有扣环,大腿收紧带10用于将大腿热塑板9压紧在人体大腿上。其中大腿热塑曲板9通过加热热塑性材料,然后加工成贴合于人体大腿的形状,等待其冷却硬化定型。贴合人体的曲面可以保证受力均匀和形变量最小,利于增加受力面积和减少滑动及形变,更加有利于穿戴的舒适性。
大腿热塑板9上设置有大腿受力承接件,大腿受力承接件上设置有驱动大腿受力锚点18和有膝关节驱动套索导向孔19,驱动大腿受力锚点18和有膝关节驱动套索导向孔19的数量分别与鲍登线组的组数相同。大腿受力支撑4通过驱动大腿受力锚点18承受大腿运动的外部驱动力,同时大腿受力支撑4作为膝关节驱动鲍登线鞘的固定端,即会在大腿热塑曲板9的大腿受力承接件上设有膝关节驱动套索导向孔19,通过膝关节驱动套索导向孔19来固定膝关节驱动鲍登线鞘的末端。
在本发明的其中一些实施例中,大腿热塑板9的内表面设置有可重复使用和拆装的魔术贴,且为魔术贴的勾面。使用时,在使用者的所穿裤子对应于大腿的位置上缝制有与魔术贴配合的魔术贴毛面,穿戴时,保证了连接位置可在一定范围内调整。大腿收紧带10利用可锁紧的大腿绑带锁紧卡扣20将前后两个热塑曲面板单元的内表面牢牢压在大腿上,且内表面的魔术贴可以限制大腿受力支撑和大腿的相对滑动。
大腿热塑板9上设置有驱动大腿受力锚点18,驱动大腿受力锚点18作为大腿驱动鲍登线驱动钢丝绳线芯的固定端,大腿驱动鲍登线驱动钢丝绳线芯相对于固定在受力腰带的大腿驱动鲍登线线鞘产生驱动大腿屈伸的驱动外力。
所述的小腿受力支撑5主要功能是设置小腿驱动受力锚点21以及设置驱动足部套索导孔,也采用相同的魔术贴连接和捆紧收紧带。
具体地,在本发明的其中一些实施例中,小腿受力支撑5包括小腿热塑板11、小腿锁紧绑带12,小腿热塑板11加工出曲面,以贴合小腿形状,小腿锁紧绑带12和小腿热塑板11连接,使用时小腿热塑板11通过小腿锁紧绑带12上的小腿绑带锁紧卡扣23锁紧贴合在小腿上。
小腿热塑板11上设置有小腿受力承接件,小腿受力承接件上设置有驱动小腿受力锚点21、驱动足部套索导向孔,驱动小腿受力锚点21和驱动足部套索导向孔分别与鲍登线组的组数相同,在本发明的其中一些实施例中,设置了两组鲍登线组,如对于驱动足部套索导向孔,则设置有两个驱动足部套索导向孔,分别定义为驱动足部套索导向前孔22和驱动足部套索导向孔24。驱动小腿受力锚点21的作用是与驱动大腿受力锚点18功能类似,膝关节驱动鲍登线的线鞘自由端固定在驱动足部套索导向孔上,膝关节驱动鲍登线的线芯自由端固定在驱动小腿受力锚点21,线芯能够相对于线鞘发生伸缩,通过膝关节驱动鲍登线的钢丝绳线芯的伸缩来产生小腿绕膝关节的屈伸运动。
在本发明的其中一些实施例中,小腿热塑板11的形状呈上大下小,贴合小腿腓肠肌的上大下小的外形,保证能够均匀的受力的同时,还可以限制可穿戴物因驱动力向上拉而产生的形变作用。
本发明中,每组鲍登线组2均包括大腿驱动鲍登线、膝关节驱动鲍登线和踝关节驱动鲍登线,大腿驱动鲍登线的线鞘末端固定在驱动大腿套索导向孔14上,线芯末端穿过驱动大腿套索导向孔14固定在驱动大腿受力锚点18上,膝关节驱动鲍登线的线鞘末端固定在膝关节驱动套索导向孔19上,线芯末端穿过膝关节驱动套索导向孔190固定在驱动小腿受力锚点21上,踝关节驱动鲍登线的线鞘末端固定在驱动足部套索导向孔上,线芯末端穿过驱动足部套索导向孔后用于与设置在脚上的脚受力锚点固定连接。
在本发明的其中一些实施例中,鲍登线组2有两组,还配设有鞋子,在鞋子上的脚跟以及脚弓位置上均设置有脚受力锚点,将前后两根踝关节驱动鲍登线的钢丝绳线芯末端固定于脚受力锚点上,通过前后两根踝关节驱动鲍登线的钢丝绳线芯的协调的松和拉,鞋子实现绕踝关节的跖曲和背曲运动,即鞋子可带动足部产生相应跖曲和背曲运动。
在本发明的其中一些实施例中,每根踝关节驱动鲍登线的钢丝绳线芯末端均设置有挂钩6,每根踝关节驱动鲍登线和相应的脚受力锚点之间通过易拆装的挂钩6连接,中间可以便捷的串接拉力传感器。整体的拆装和连接相当简便易行。
在本发明的其中一些实施例中,膝关节和踝关节的整根鲍登线的顶部都要向上穿过驱动大腿套索导向孔14。
在本发明的其中一些实施例中,请参阅图1,配设有两个大腿受力支撑4和两个小腿受力支撑5,可分别穿戴在人体的左右大腿和左右小腿上,进行双肢的康复。
所述的传感器接口主要是针对用可穿戴进行康复训练时,需要获取人体的表面肌电信息、血氧心率信息、人和可穿戴物执行器之间的交互力信息等。在人体和热塑板内表面、以及各驱动鲍登线等保留出安装传感器的空间,在需要时可以快速的集成和使用。
所述的柔性可穿戴物执行器主是为实现鲍登线类型拉绳套索驱动的末端执行器,具有穿戴舒适、安全高效、穿戴和脱下便捷的等优点,同时,由于鲍登线的传动路径可柔性弯曲,对穿戴者产生的附加关节限制少,该发明对于穿戴使用人员几乎透明,而且整体重量比刚性支撑外骨骼少。更加方便于人体的穿戴体验。
所述的柔性可穿戴物执行器不仅可以用于下肢康复治疗的人机交互媒介,还可以用于柔性可穿戴外骨骼的执行器,包括上肢的和下肢柔性可穿戴物执行器。
本发明在使用时,先进行受力腰带、受力背带的穿戴,打开腰带接口,从后往前包围在康复患者的腰部,再连接接口,接口可以调节松紧程度,保证穿戴的舒适性。然后再连接背带,背带在身后交叉跨过,与前面的接口相连接。
接下来完成大腿受力支撑4的穿戴,首先将大腿热塑板9上带有勾面的魔术贴固定于带有毛面的大腿裤子上,保证前后对称,位置大概在大腿中间;然后用大腿收紧带10将前后两个热塑曲面板单元捆紧,使其与人体大腿紧密贴合。然后连接驱动大腿的鲍登线芯至受力件上的锚点。
然后进行小腿受力支撑5的穿戴,小腿部位的穿戴流程与大腿类似,但是小腿的穿戴定位点为小腿腓肠肌的位置,保证腓肠肌能够和曲面很好的贴合。
足部的穿戴过程相对简单,只需要将鞋子上的脚受力锚点和驱动踝关节的鲍登线线芯连接即可。
另一条腿的传递流程也按照相同的流程,按照从上至下的顺序完成穿戴准备工作。
由于采用柔性线驱动,在使用该可穿戴执行器开始训练时,还需进行驱动鲍登线的预紧工作,既可以采用手动预紧的方式来完成,也可以通过控制算法,自动完成预紧。
当需要用到传感器测量下肢的运动状态时,惯性传感器可直接固定在大腿小腿的受力支撑上,足部可通过魔术贴将惯性传感器固定于足部前端。鲍登线的输出拉力可以通过拉力传感器测量,可直接串联进受力锚点(18、21和脚受力锚点)和鲍登线末端之间,每根驱动的柔性驱动鲍登线都串接一个拉力传感器。表面肌电信号传感器的放大器可固定于受力支撑上,电极片通过所穿裤子上预设的小孔,与目标肌肉区接触,采集肌肉的激励强度信息。
每根驱动鲍登线均包括位于外侧的鲍登线鞘和位于鲍登线鞘内部的钢丝绳线芯,柔性可穿戴执行器工作时,中空的螺线管型的鲍登线鞘与其内含的钢丝绳线芯,两者可相对滑动,鲍登线钢丝绳线芯在鲍登线线鞘端点和受力锚点之间的距离会相对的变化,来驱动大腿、小腿和脚掌绕髋膝踝关节运动。
驱动鲍登线的驱动方式采用柔性驱动:采用鲍登线的原动—拮抗的仿生肌肉方式,当一个关节前面的鲍登线钢丝绳线芯输出拉力时,这个关节后面的鲍登线钢丝绳线芯进入到恒张力随动模式,反之亦然。主动关节的阻抗力通过鲍登线钢丝绳线芯的张力来调节。
关节的驱动力矩通过串接在线芯上的拉力传感器测量鲍登线钢丝绳线芯的张力,结合受力锚点对关节的转动力臂来计算获取。
当使用用户穿戴本发明实施例提及的柔性可穿戴执行器时,如图5所示,每条腿的髋膝踝关节前后都有一跟拉动相对于髋膝踝关节转动的肢体远端运动的鲍登线钢丝绳线芯。类似于肌肉的工作方式,通过鲍登线钢丝绳线芯相对于套在其外面的鲍登线线鞘产生相对运动,以此拉动下肢肢体产生相应的运动。由于每个关节配有两根一前一后的鲍登线驱动结构,则可以实现关节的屈曲和伸展运动。进而可实现两条腿的包括行走在内的康复训练运动以及关节助力运动。
综上,本发明实施例提供的该可穿戴式执行器有采用低温热塑性材料,贴合人体下肢外形曲臂支撑结构,背面安装鲍登受力锚点及线鞘受力端子。同时,将驱动下肢运动的作用力通过腰带和背带,均匀的分布在躯干上,是康复患者保持步态时身体的受力感。整个可穿戴物执行器采用测拆装接口,通过魔术贴直接与康复患者所穿织物连接,通过锁紧带锁紧前后成对的热塑性曲面支撑,该柔性可穿戴执行器还可以集成拉力传感器、惯性传感器、表面肌肉传感器和薄膜压力传感器来感知人机交互力、下肢空间姿态、肌肉激励强度等信息。具有形变量小、安全舒适、穿戴和拆卸便捷优势,能够以柔性的辅助驱动方式,帮助患者进行康复训练。
对所公开的实施例的上述说明,使本领域专业技术人员能够实现或使用本发明。对这些实施例的多种修改对本领域的专业技术人员来说将是显而易见的,本文中所定义的一般原理可以在不脱离本发明的精神或范围的情况下,在其他实施例中实现。因此,本发明将不会被限制于本文所示的这些实施例,而是要符合与本文所公开的原理和新颖特点相一致的最宽的范围。
Claims (10)
1.一种用于下肢康复的柔性可穿戴物执行器,其特征在于:包括受力腰带、受力背带、大腿受力支撑(4)和小腿受力支撑(5)和至少两组鲍登线组(2),
受力腰带和受力背带之间可拆卸连接,并能穿戴在人体上,受力腰带上设置有驱动大腿套索导向孔(14);
大腿受力支撑(4)用于安装在大腿上,包括大腿热塑板(9),大腿热塑板(9)上设置有驱动大腿受力锚点(18)和膝关节驱动套索导向孔(19);
小腿受力支撑(5)用于安装在小腿上,包括小腿热塑曲面板(11),小腿热塑曲面板(11)上设置有驱动小腿受力锚点(21)和驱动足部套索导向孔;
每组鲍登线组(2)均包括大腿驱动鲍登线、膝关节驱动鲍登线和踝关节驱动鲍登线,大腿驱动鲍登线的线鞘末端固定在驱动大腿套索导向孔(14)上,线芯末端固定在驱动大腿受力锚点(18)上,膝关节驱动鲍登线的线鞘末端固定在膝关节驱动套索导向孔(19)上,线芯末端固定在驱动小腿受力锚点(21)上,踝关节驱动鲍登线的线鞘末端固定在驱动足部套索导向孔上,线芯末端用于与设置在脚上的脚受力锚点固定连接。
2.根据权利要求1所述的一种用于下肢康复的柔性可穿戴物执行器,其特征在于:受力腰带包括至少两个低温热塑板单元,低温热塑板单元之间铰接。
3.根据权利要求1所述一种用于下肢康复的柔性可穿戴物执行器,其特征在于:所述受力背带包括两个背带单元,两个背带单元的两端均与受力腰带可拆卸连接,且两个背带单元在后侧交叉跨接。
4.根据权利要求1所述一种用于下肢康复的柔性可穿戴物执行器,其特征在于:大腿热塑板(9)包括两个热塑曲面板单元,大腿受力支撑(4)还包括大腿收紧带(10),大腿收紧带(10)用于将两个热塑曲面板单元收紧在大腿上。
5.根据权利要求1所述一种用于下肢康复的柔性可穿戴物执行器,其特征在于:小腿热塑板(11)的形状与小腿腓肠肌的形状一致。
6.根据权利要求1所述一种用于下肢康复的柔性可穿戴物执行器,其特征在于:所述鲍登线组有两组,所述执行器还配设有鞋子,所述脚受力锚点设置在鞋子上,在鞋子上相对于脚跟和脚弓的位置上均设置有脚受力锚点。
7.根据权利要求1所述一种用于下肢康复的柔性可穿戴物执行器,其特征在于:每根驱动鲍登线的线芯末端设置有挂钩,每根驱动鲍登线的线芯末端和相应受力锚点之间通过挂钩连接。
8.根据权利要求1所述一种用于下肢康复的柔性可穿戴物执行器,其特征在于:每根驱动鲍登线上均设置有拉力传感器。
9.根据权利要求1所述一种用于下肢康复的柔性可穿戴物执行器,其特征在于:所述执行器还包括传感器接口,用于安装不同类型的传感器。
10.根据权利要求1-9任一所述一种用于下肢康复的柔性可穿戴物执行器,其特征在于:驱动大腿套索导向孔(14)、驱动大腿受力锚点(18)、膝关节驱动套索导向孔(19)、驱动小腿受力锚点(21)和驱动足部套索导向孔的数量与鲍登线组(2)的数量相等。
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