CN114888776A - Passive foot assisting mechanism integrating double sensors and heterogeneous elastic elements - Google Patents
Passive foot assisting mechanism integrating double sensors and heterogeneous elastic elements Download PDFInfo
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- 230000007246 mechanism Effects 0.000 title claims abstract description 35
- 239000002131 composite material Substances 0.000 claims abstract description 32
- 210000002683 foot Anatomy 0.000 claims description 52
- 239000010409 thin film Substances 0.000 claims description 48
- 210000000689 upper leg Anatomy 0.000 claims description 28
- 230000009977 dual effect Effects 0.000 claims description 26
- 210000003414 extremity Anatomy 0.000 claims description 7
- 210000000629 knee joint Anatomy 0.000 claims description 6
- 238000005452 bending Methods 0.000 claims description 4
- 210000001255 hallux Anatomy 0.000 claims description 3
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- 238000003860 storage Methods 0.000 abstract description 3
- 239000010408 film Substances 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 238000003825 pressing Methods 0.000 description 7
- 210000001624 hip Anatomy 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 6
- 210000004744 fore-foot Anatomy 0.000 description 5
- 238000000034 method Methods 0.000 description 5
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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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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/1036—Measuring load distribution, e.g. podologic studies
- A61B5/1038—Measuring plantar pressure during gait
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
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Abstract
A passive foot assisting mechanism integrating double sensors and heterogeneous elastic elements comprises: the multilayer composite bottom plate has elasticity and is used for being arranged at the bottom of a foot of a user; one end of the first connecting piece is fixedly connected with the side face of the multilayer composite bottom plate; the second connecting piece is arranged at one end of the first connecting piece, which is far away from the multilayer composite bottom plate; the fisheye bearing is arranged between the first connecting piece and the second connecting piece, the fixed end of the fisheye bearing is fixedly connected with the first connecting piece, and the rotating end of the fisheye bearing is rotatably connected with the second connecting piece; and the elastic piece is arranged between the first connecting piece and the second connecting piece, and two ends of the elastic piece are fixedly connected with the first connecting piece and the second connecting piece respectively. The application provides a pair of sensor and heterogeneous elastic element's passive foot assist drive device fuse has multi freedom, and it is comfortable and the flexibility ratio is high to dress, can store the energy when the user walks to the advantage of walking through the energy helping hand of storage.
Description
Technical Field
The present disclosure relates generally to the field of wearable exoskeletons, and more particularly to a passive foot assist mechanism that incorporates dual sensors and heterogeneous elastic elements.
Background
In recent years, China gradually enters an aging society, the aging problem of the population is increased rapidly, and meanwhile, the demand of the exoskeleton is increased, so that the exoskeleton plays an important role in promoting the transformation, upgrading and high-speed development process of the manufacturing industry in China. The traditional foot structure joint adopts a single-degree-of-freedom revolute pair, the limitation of the degree of freedom is large when the user walks, the user can only move in one direction, and the movement is single. Meanwhile, the use experience of the wearer is also influenced by the fact that the degree of freedom of the single-degree-of-freedom ankle joint is not matched with the degree of freedom of the human body joint, and the wearer can feel heavy and inconvenient to walk. The single degree of freedom cannot meet the requirement of the motion of the exoskeleton under complex and variable environments. In addition, the conventional foot device has no energy recovery device, cannot provide an auxiliary torque, and causes energy waste when a user walks, so that the energy cannot be effectively utilized. Meanwhile, the traditional ankle joint sole lacks of a sensing device or has single sensor and small quantity, and can not accurately sense the pressure change of the sole, so that the degree of cooperation between an operator and the device is not high when the operator walks, and the operator can move rigidly.
Therefore, the walking assisting foot mechanism is more compatible with the freedom degree of the human body and accurately senses the pressure change of the sole of the foot, and becomes a hotspot in the research field of wearable exoskeletons.
Although the existing foot mechanism can preliminarily meet the motion requirements of the exoskeleton, the universal foot mechanism has the prominent problems that man-machine heterogeneous motion is incompatible, an energy recovery device is lacked, auxiliary torque cannot be provided, sole pressure change of a user cannot be accurately measured, and the like.
Disclosure of Invention
In view of the above-mentioned drawbacks and deficiencies of the prior art, it is desirable to provide a passive foot assisting mechanism that combines dual sensors and heterogeneous elastic elements, has multiple degrees of freedom, is comfortable to wear, has high flexibility, stores energy of a user during walking, and assists walking by the stored energy.
This application first aspect provides a fuse passive foot assist drive device of dual sensor and heterogeneous elastic element, includes:
a multi-layer composite baseplate for mounting at the foot sole of a user;
one end of the first connecting piece is fixedly connected with the side face of the multilayer composite bottom plate;
the second connecting piece is arranged at one end, far away from the multilayer composite bottom plate, of the first connecting piece;
the fisheye bearing is arranged between the first connecting piece and the second connecting piece, the fixed end of the fisheye bearing is fixedly connected with the first connecting piece, and the rotating end of the fisheye bearing is rotatably connected with the second connecting piece;
the elastic piece is arranged between the first connecting piece and the second connecting piece, and two ends of the elastic piece are fixedly connected with the first connecting piece and the second connecting piece respectively.
According to the technical scheme provided by the first embodiment of the application, a plurality of pressure sensors are embedded in the multi-layer composite bottom plate at the front sole and the heel and used for measuring a first pressure value at the front sole and a second pressure value at the rear heel when a user walks.
According to the technical solution provided by the first embodiment of the present application, the pressure sensor further includes a control unit, an input end of the control unit is connected with an output end of the pressure sensor, and is configured to:
receiving a first pressure value and calculating a first average value of the first pressure value at the same moment; receiving a second pressure value and calculating a second average value of the second pressure value at the same moment;
judging that the first average value at the current moment is larger than the first average value at the previous moment, and the second average value at the current moment is smaller than the second average value at the previous moment, and outputting a first instruction by the control unit;
and when the first average value and the second average value at the current moment are both judged to be zero, the control unit outputs a second instruction.
According to the technical scheme that this application first embodiment provided, the one side of multilayer composite bottom plate and user's contact is equipped with film sensor group for sole pressure value when measuring the user walking.
According to the technical scheme provided by the first embodiment of the application, a plurality of first thin film sensors, second thin film sensors and third thin film sensors are arranged on the thin film sensor group; the intersection of the front sole and the big toe of the thin film sensor group is a first sensing area, and a plurality of first thin film sensors are distributed on the first sensing area and used for measuring a third pressure value on the first sensing area; the rear heel of the film sensor group is a second sensing area, and the plurality of second film sensors are distributed on the second sensing area and used for measuring a fourth pressure value on the second sensing area; the middle part of the sole of the thin film sensor group is provided with a third sensing area, and a plurality of third thin film sensors are distributed on the third sensing area and used for measuring a fifth pressure value on the third sensing area.
According to the technical solution provided by the first embodiment of the present application, the input end of the control unit is further connected to the output end of the thin film sensor group, and is configured to:
receiving the third pressure value and calculating a third mean value of the third pressure value; receiving the fourth pressure value and calculating a fourth mean value of the fourth pressure value; receiving the fifth pressure value and calculating a fifth mean value of the fifth pressure value;
judging that the third average value at the current moment is larger than the third average value at the previous moment, the fourth average value at the current moment is smaller than the fourth average value at the previous moment, the fifth average value at the current moment is smaller than the fifth average value at the previous moment, the first average value at the current moment is larger than the first average value at the previous moment, and the second average value at the current moment is smaller than the second average value at the previous moment, and outputting a first instruction by the control unit;
and judging that the third mean value, the fourth mean value and the fifth mean value at the current moment and the first mean value and the second mean value at the current moment are all zero, and outputting a second instruction by the control unit.
According to the technical scheme provided by the first embodiment of the present application, the multilayer composite floor specifically includes:
the pressure sensor comprises a lower bottom plate and an upper bottom plate, wherein the lower bottom plate is fixedly connected with the upper bottom plate, and a placing hole for embedding the pressure sensor is formed in the upper bottom plate;
the elastic plate is fixedly connected between the lower bottom plate and the upper bottom plate and is positioned at the position of the front sole;
the heel connecting piece is fixedly connected between the lower base plate and the upper base plate and is positioned at the position of a heel, and the heel connecting piece is fixedly connected with the elastic plate.
According to the technical scheme that this application first embodiment provided, be equipped with the connecting axle on the second connecting piece, fisheye bearing inner race cover is established on the connecting axle, fisheye bearing is close to the one end of first connecting piece has and is used for first connecting piece threaded connection's external screw thread.
The second aspect of the application provides a limb exoskeleton, which comprises a knee joint component and a passive foot assisting structure which integrates a dual sensor and a heterogeneous elastic element, wherein the knee joint component comprises a thigh support and a shank support, one end of the thigh support, which is close to the thigh support, and one end of the shank support, which is far away from the thigh support, are rotatably connected, and the other end of the shank support, which is far away from the thigh support, is fixedly connected with a second connecting piece;
the first driving unit has a first state and a second state, and when the first driving unit is in the first state, the first driving unit drives the thigh support and the shank support to rotate to a bending state; when the first driving unit is in the second state, the thigh support and the shank support are driven by the first driving unit to rotate to a straightened state.
According to the technical solution provided by the second embodiment of the present application, the apparatus further includes the control unit as described above, an output end of the control unit is connected to an input end of the first driving unit, and when the first driving unit receives the first instruction, the first driving unit is switched to the first state; and when the first driving unit receives the second instruction, the first driving unit is converted into a second state.
The beneficial effect of this application lies in: by arranging the multilayer composite bottom plate, two ends of the elastic part are fixed on the first connecting part and the second connecting part, and the first connecting part is fixedly connected with the multilayer composite bottom plate, so that when a user walks, a shank exerts force and the back foot is lifted off the ground, in the process, one side of the elastic part is compressed, meanwhile, the multilayer composite bottom plate is elastically bent, the elastic part and the multilayer composite floor are matched to store energy, and when the front sole is lifted off the ground, the elastic part and the multilayer composite bottom plate release energy to play a walking assisting effect; through setting up the fisheye bearing, the rotatory end of fisheye bearing with second connecting piece swivelling joint, the stiff end with first connecting piece fixed connection makes first connecting piece can be relative can the multi freedom motion between the second connecting piece. The application provides a pair of sensor and heterogeneous elastic element's passive foot assist drive device fuse has multi freedom, and it is comfortable and the flexibility ratio is high to dress, can store the energy when the user walks to the advantage of walking through the energy helping hand of storage.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
FIG. 1 is a schematic structural view of a passive foot assisting mechanism incorporating dual sensors and heterogeneous elastic elements according to the present application;
FIG. 2 is a schematic view of a connection structure between a walking assisting mechanism and a base plate in the passive foot assisting mechanism in which the dual sensors and the heterogeneous elastic elements are integrated as shown in FIG. 1;
FIG. 3 is a schematic structural view of a walking assisting mechanism in the passive foot assisting mechanism in which the dual sensors and the heterogeneous elastic elements are fused as shown in FIG. 1;
FIG. 4 is a schematic structural diagram of a bottom plate of the passive foot assisting mechanism combining a dual sensor and a heterogeneous elastic element shown in FIG. 1;
FIG. 5 is a schematic structural diagram of a first connecting member of the passive foot assisting mechanism combining a dual sensor and a heterogeneous elastic element shown in FIG. 1;
FIG. 6 is a schematic structural diagram of a second connecting member of the passive foot assisting mechanism incorporating dual sensors and heterogeneous elastic elements shown in FIG. 1;
FIG. 7 is a schematic view of the structure of the heel of the bottom plate of the passive foot assisting mechanism combining the dual sensors and the heterogeneous elastic elements shown in FIG. 1;
FIG. 8 is a schematic structural view of a strap buckle in the passive foot assisting mechanism incorporating dual sensors and heterogeneous elastic elements shown in FIG. 1;
FIG. 9 is a schematic structural view of a lower plate of the passive foot assisting mechanism of FIG. 1 combining dual sensors and heterogeneous elastic elements;
FIG. 10 is a schematic structural view of an elastic plate of the passive foot assisting mechanism combining dual sensors and heterogeneous elastic elements shown in FIG. 1;
FIG. 11 is a schematic structural diagram of an upper plate of the passive foot assisting mechanism combining a dual sensor and a heterogeneous elastic element shown in FIG. 1;
FIG. 12 is a schematic diagram of the sensor distribution structure on the thin film sensor in the passive foot assisting mechanism combining the dual sensor and the heterogeneous elastic element shown in FIG. 1;
FIG. 13 is a schematic structural diagram of a first pressing plate of the passive foot assisting mechanism combining a dual sensor and a heterogeneous elastic element shown in FIG. 1;
FIG. 14 is a schematic structural view of a second platen of the passive foot assist mechanism incorporating dual sensors and heterogeneous elastic elements shown in FIG. 1;
reference numerals: 1. a first connecting member; 1-1, a first connection; 1-2, a first groove, 1-3 and a first threaded hole; 2. a second connecting member; 2-1, a second connecting part; 2-2, a second groove; 2-3, a second threaded hole; 3. a fisheye bearing; 4. an elastic member; 5. a pressure sensor; 5-1, a first pressure sensor; 5-2, a second pressure sensor; 6. a thin film sensor group; 6-1, a first thin film sensor; 6-2, a second thin film sensor; 6-3, a third film sensor; 7. a first platen; 8. a second platen; 8-1, mounting holes; 9. a first gasket; 10. a second gasket; 11. a connecting shaft; 11-1, fixing parts; 12. a lower base plate; 12-1, a first projection; 12-2, a second projection; 12-3, a strap slot; 13. an upper base plate; 13-1, placing holes; 14. an elastic plate; 14-1, a first through hole; 14-2, a second connecting hole; 15. a sole plate heel; 15-1, a third groove, 15-2 and a second through hole; 15-3, a third connecting hole; 15-4, placing grooves; 16. an elastic band; 17. a binding buckle.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
Example 1
Please refer to fig. 1, which is a schematic structural diagram of a passive foot assisting mechanism combining a dual sensor and a heterogeneous elastic unit provided in the present application, including:
a multi-layer composite baseplate for mounting at the foot sole of a user;
one end of the first connecting piece 1 is fixedly connected with the side face of the multilayer composite bottom plate;
the second connecting piece 2 is arranged at one end, far away from the multilayer composite bottom plate, of the first connecting piece 1;
the fisheye bearing 3 is arranged between the first connecting piece 1 and the second connecting piece 2, the fixed end of the fisheye bearing 3 is fixedly connected with the first connecting piece 1, and the rotating end of the fisheye bearing 3 is rotatably connected with the second connecting piece 2;
and the elastic piece 4 is arranged between the first connecting piece 1 and the second connecting piece 2, and two ends of the elastic piece 4 are fixedly connected with the first connecting piece 1 and the second connecting piece 2 respectively.
The working principle is as follows: by arranging the multilayer composite bottom plate, two ends of the elastic part 4 are fixed on the first connecting part 1 and the second connecting part 2, and the first connecting part 1 is fixedly connected with the multilayer composite bottom plate, so that when a user walks, a shank exerts force and the back heel lifts off the ground, in the process, one side of the elastic part 4 is compressed, meanwhile, the multilayer composite bottom plate is elastically bent, the elastic part 4 and the multilayer composite floor are matched to store energy, and when the front sole lifts off the ground, the elastic part 4 and the multilayer composite bottom plate release energy to play a walking assisting effect; through setting up fisheye bearing 3, fisheye bearing 4's rotatory end with second connecting piece 2 swivelling joint, the stiff end with first connecting piece 1 fixed connection makes first connecting piece 1 can be relative can the multi freedom motion between the second connecting piece 2. The application provides a pair of sensor and heterogeneous elastic element's passive foot assist drive device fuse has multi freedom, and it is comfortable and the flexibility ratio is high to dress, can store the energy when the user walks to the advantage of walking through the energy helping hand of storage.
In a preferred embodiment, a plurality of pressure sensors 5 are embedded in the multilayer composite bottom plate at the forefoot and heel for measuring a first pressure value at the forefoot and a second pressure value at the heel when a user walks.
In a preferred embodiment, the system further comprises a control unit, an input end of the control unit is connected with an output end of the pressure sensor 5, and the control unit is configured to:
receiving a first pressure value and calculating a first average value of the first pressure value at the same moment; receiving a second pressure value and calculating a second average value of the second pressure value at the same moment;
judging that the first average value at the current moment is larger than the first average value at the previous moment, and the second average value at the current moment is smaller than the second average value at the previous moment, and outputting a first instruction by the control unit;
and when the first average value and the second average value at the current moment are both judged to be zero, the control unit outputs a second instruction.
In a preferred embodiment, the surface of the multilayer composite bottom plate, which is contacted with a user, is provided with a thin film sensor group 6 for measuring the pressure value of the sole of the foot when the user walks.
In a preferred embodiment, a plurality of first thin film sensors 6-1, second thin film sensors 6-2 and third thin film sensors 6-3 are arranged on the thin film sensor group 6; the intersection of the front sole and the big toe of the thin film sensor group 6 is a first sensing area, and a plurality of first thin film sensors 6-1 are distributed on the first sensing area and used for measuring a third pressure value on the first sensing area; the rear heel of the thin film sensor group 6 is a second sensing area, and a plurality of second thin film sensors 6-2 are distributed on the second sensing area and used for measuring a fourth pressure value on the second sensing area; the middle part of the sole of the thin film sensor group 6 is a third sensing area, and a plurality of third thin film sensors 6-3 are distributed on the third sensing area and used for measuring a fifth pressure value on the third sensing area; the first thin film sensor 6-1 and the second thin film sensor 6-2 are uniformly distributed, and the third thin film sensor 6-3 is sparser than the first thin film sensor 6-1 and the second thin film sensor 6-2.
In a preferred embodiment, the input of the control unit is further connected to the output of the thin film sensor group 6, and configured to:
receiving the third pressure value and calculating a third mean value of the third pressure value; receiving the fourth pressure value and calculating a fourth mean value of the fourth pressure value; receiving the fifth pressure value and calculating a fifth mean value of the fifth pressure value;
judging that the third average value at the current moment is larger than the third average value at the previous moment, the fourth average value at the current moment is smaller than the fourth average value at the previous moment, the fifth average value at the current moment is smaller than the fifth average value at the previous moment, the first average value at the current moment is larger than the first average value at the previous moment, and the second average value at the current moment is smaller than the second average value at the previous moment, and outputting a first instruction by the control unit;
and judging that the third mean value, the fourth mean value and the fifth mean value at the current moment and the first mean value and the second mean value at the current moment are all zero, and outputting a second instruction by the control unit.
In a preferred embodiment, the multilayer composite chassis specifically includes:
the pressure sensor comprises a lower bottom plate 12 and an upper bottom plate 13, wherein the lower bottom plate 12 is fixedly connected with the upper bottom plate 13, and a placing hole 13-1 for embedding the pressure sensor 5 is formed in the upper bottom plate 12;
the elastic plate (14) is fixedly connected between the lower bottom plate 12 and the upper bottom plate 13 and is positioned at the front sole position;
the heel connecting piece 15 is fixedly connected between the lower base plate 12 and the upper base plate 13 and is positioned at the position of a heel, and the heel connecting piece 15 is fixedly connected with the elastic plate 14.
In a preferred embodiment, a connecting shaft 11 is arranged on the second connecting piece 2, an inner ring of the fisheye bearing 3 is sleeved on the connecting shaft 11, and an external thread for the threaded connection of the first connecting piece 1 is arranged at one end of the fisheye bearing 3 close to the first connecting piece 1.
In one embodiment, the elastic member 4 is a spring.
Specifically, a first connecting part 1-1 is arranged at one end of the first connecting piece 1, which is far away from the second connecting piece 2, and a second connecting part 2-1 is arranged at one end of the second connecting piece 2, which is far away from the first connecting piece 1; a first pressure plate 7 is arranged between the first connecting piece 1 and the second connecting piece 2, a second pressure plate 8 is arranged between the first pressure plate and the second connecting piece 2, a first gasket 9 is arranged between the first connecting piece 1 and the first pressure plate 7, and a second gasket 10 is arranged between the second connecting piece 2 and the second pressure plate 8; a first groove 1-2 for mounting the first gasket 9 is formed in one side, close to the first gasket 9, of the first connecting piece 1, and a first threaded hole 1-3 is formed in the inner ring part of the first groove 1-2; one side of the second connecting piece 2 close to the second gasket 10 is provided with a second groove 2-2 for mounting the second gasket 10, and the inner circle part of the second groove 2-2 is provided with a second threaded hole 2-3.
Furthermore, one end of the first pressure plate 7, which is close to the first connecting piece 1, is provided with a threaded hole corresponding to the first threaded hole 1-3, the other end extends outwards, and the end part is provided with an internal thread for mounting the fisheye bearing 3; the first gasket 9 presses one end of the spring in the first groove 1-2, the first pressure plate 7 is fixedly connected with the first connecting piece 1 through a bolt, and the first gasket 9 is fixed in the first groove 1-2; one end of the second pressure plate 8 close to the second connecting piece is provided with a threaded hole corresponding to the second threaded hole 2-3, the other end extends outwards, and the end part is provided with a mounting hole 7-1 for mounting the fisheye bearing 3; the second gasket 10 presses the other end of the spring in the second groove 2-2, the second pressing plate 8 is fixedly connected with the second connecting piece 2 through a bolt, and the second gasket 10 is fixed in the second groove 2-2; the spring is characterized in that one end of the first pressing plate 7, which is connected with the first connecting piece 1, is provided with a first fan-shaped notch, one end of the second pressing plate 8, which is connected with the second connecting piece 2, is provided with a second fan-shaped notch, and the spring can rotate more flexibly through the first fan-shaped notch and the second fan-shaped notch.
Further, a connecting shaft 11 is installed in the installation hole 7-1, and when a user stands normally, the connecting shaft 11 is in the horizontal direction; fixing pieces 11-1 in threaded connection with the end portions of the connecting shafts 11 are respectively arranged at two ends of the connecting shafts 11, the connecting shafts 11 are fixed in the mounting holes 7-1 through the fixing pieces 11-1, one ends, used for steering, of the fisheye bearings 3 are rotatably sleeved on the connecting shafts 11, the other ends of the fisheye bearings are in threaded connection with the first pressing plates 7, and when the vehicle travels, the fisheye bearings 3 are used for being matched with the first pressing plates 7 and the second pressing plates 8 to move relatively; through setting up fisheye bearing 3 for the foot assist drive device that this application provided has multi freedom's advantage, for mechanical structure such as traditional connecting rod connection, connects through fisheye bearing 3 moreover and makes joint structure compacter, easily miniaturization.
Furthermore, two first protruding parts 12-1 are arranged at the arch of the lower base plate 12, one second protruding part 12-2 is arranged at the heel, and a first connecting hole 12-4 for connecting with the heel connecting piece 15 is arranged between the first protruding part 12-1 and the second protruding part 12-2; a binding buckle 17 is arranged on two sides of the lower bottom plate 12 and on one side of the second protruding part 12-2 far away from the first protruding part 12-1, and the binding buckle 17 is in threaded connection with the lower bottom plate 12 and is used for installing a binding band for fixing feet; strap grooves 12-3 for fixing the elastic straps 16 are arranged on two sides of the front sole of the lower bottom plate 12.
Furthermore, the elastic plate 14 is provided with a first through hole 14-1 corresponding to the two first protruding portions 12-1 and used for the two first protruding portions 12-1 to extend into, the two first protruding portions 12-1 extend into the first through hole 14-1 to prevent the elastic plate 14 from swinging left and right between the upper base plate 13 and the lower base plate 12, and the rear end of the elastic plate 14 is provided with two second connecting holes 14-2 used for being connected with a heel connecting piece 15.
Furthermore, a third groove 15-1 for the rear end of the elastic plate 14 to extend into is arranged on one side of the heel connecting piece 15 close to the elastic plate 14, a second through hole 15-2 corresponding to the second protrusion 12-2 and for the second protrusion 12-2 to extend into is arranged on the heel connecting piece 15, the first protrusion 12-1 extends into the first through hole 14-1 to avoid the heel connecting piece 15 from swinging left and right between the upper base plate 13 and the lower base plate 12, and third connecting holes 15-3 corresponding to the first connecting hole 12-4 and the second connecting hole 14-2 are arranged on the upper side and the lower side of the first groove 1-2; the heel connecting piece 15 is provided with a threaded hole which is used for being connected with the first connecting part 1-1 and is positioned at the outer side of the foot, and the heel connecting piece 15 is fixedly connected with the first connecting part 1-1 through a screw so as to connect the intersection sensing mechanism with the foot boosting mechanism; threaded holes are correspondingly formed in the heel connecting piece 15 and the lower base plate 12, and the heel connecting piece 15 and the lower base plate 12 can be connected through screws in a reinforcing mode.
In one embodiment, the upper base plate 13 is made of a flexible material, so that the overall softness is increased, the overall comfort of the device is improved, and the discomfort of a user during wearing is reduced; the lower bottom plate 12 is made of special rubber materials, so that the friction between the sole and the contact surface is increased, and the possibility of slipping of a user during walking is reduced.
Specifically, the elastic plate 14 is arranged between the upper base plate 13 and the lower base plate 12, so that when a user walks, the user can store energy through bending of the elastic plate 14 when the sole is bent, and when the user lifts the foot, the elastic plate 14 restores to the original state and releases energy to assist walking.
Furthermore, when a user walks, the user firstly lifts the heel before the sole of the foot is completely lifted, the elastic plate 14 is bent, the heel compresses one side of the spring to enable the spring to compress and accumulate force, and the elastic plate 14 and the spring are deformed and matched to accumulate force together; in the process that the front sole is lifted off the ground, the elastic plate 14 and the spring deform and recover and release energy, and then the walking of a user is assisted.
Furthermore, the multilayer composite bottom plate formed by the upper bottom plate 13, the elastic plate 14, the lower bottom plate 12 and the heel connecting piece 15 is matched with the spring for use, so that the impact of the device and the ground when a user walks is reduced, and the service life of the device can be prolonged.
In one embodiment, the pressure sensors 5 are four, and include three first pressure sensors 5-1 and one second pressure sensor 5-2, the first pressure sensor 5-1 is used for measuring the first pressure value at the forefoot, and the second pressure sensor 5-2 is used for measuring the second pressure value at the heel.
Further, a placement groove 15-4 for installing the pressure sensor 5 is arranged on the heel connecting piece 15 and behind the second through hole 15-2, three placement holes 13-1 for placing the first pressure sensor 5 are arranged at the front sole of the upper base plate 13, a placement hole 13-1 for placing the second pressure sensor 5 is arranged at the heel of the upper base plate 13, and the placement groove 15-4 corresponds to the placement hole 13-1 at the heel; the first pressure sensor 5-1 is placed in the placement hole 13-1 at the forefoot, and the second pressure sensor 5-2 is placed in the placement hole 13-1 at the heel.
Further, the elastic plate 14, the heel connecting piece 15 and the lower base plate 12 are fixedly connected by the screw threads through the first connecting hole 12-4, the second connecting hole 14-2, the third connecting hole 15-3 and the screw cooperation, and the upper base plate 13 is adhered above the elastic plate 14 and the heel connecting piece 15.
Specifically, the first thin film sensor (6-1) and the second thin film sensor (6-2) are uniformly distributed, and the third thin film sensor (6-3) is sparsely distributed compared with the first thin film sensor (6-1) and the second thin film sensor (6-2); the first film sensor 6-1 and the second film sensor 6-2 are distributed relatively densely because the pressure on the first sensing area and the second sensing area is larger during the walking or standing process of the user, so that the pressure on the forefoot and the heel of the user can be measured more accurately; the pressure on the second sensing area is small, so that the third film sensors 6-3 are distributed sparsely, the number of the third film sensors 6-3 is reduced on the premise that the pressure on the arch of the foot can be measured, and the cost is saved.
Example 2
The embodiment provides a limb exoskeleton which comprises a knee joint component and the passive foot assistance structure integrating a dual sensor and a heterogeneous elastic element, wherein the knee joint component comprises a thigh support and a shank support, one ends of the thigh support and the shank support, which are close to each other, are rotatably connected, and one end of the shank support, which is far away from the thigh support, is fixedly connected with a second connecting piece 2;
the first driving unit has a first state and a second state, and when the first driving unit is in the first state, the first driving unit drives the thigh support and the shank support to rotate to a bending state; when the first driving unit is in the second state, the thigh support and the shank support are driven by the first driving unit to rotate to a straightened state.
In a preferred embodiment, the control device further comprises the control unit as described above, an output end of the control unit is connected to an input end of the first driving unit, and when the first driving unit receives the first instruction, the first driving unit is switched to a first state; and when the first driving unit receives the second instruction, the first driving unit is converted into a second state.
Specifically, the shank support is fixedly connected with the second connecting part 2-1 through a screw rod; the shank support is fixedly connected with the shank of the user; the thigh support is fixedly connected with the thigh of the user.
Specifically, the limb exoskeleton further comprises a second driving unit and a waist fixing piece, the waist fixing piece is fixedly connected with the waist of a user, one end, far away from the shank support, of the thigh support is rotatably mounted on the waist fixing piece, and the waist fixing piece and the thigh support form a hip joint assembly; the second driving state comprises a third state and a fourth state, and when the second driving state is in the third state, the second driving unit drives the thigh support to rotate relative to the waist fixing part until the thigh support is in a lifting state; when the thigh support is in the fourth state, the second driving unit drives the thigh support to fall to the state that the thigh support is in a foot falling state.
Further, an input end of the second driving unit is connected with an output end of the control unit, and when the second driving unit receives the first instruction, the second driving unit is switched to a third state; and when the second driving unit receives the second instruction, the second driving unit is converted into a fourth state.
Specifically, when a user lifts his foot during walking, the heel is lifted first, and at this time, the control unit receives signals of the user's heel off the ground transmitted by the pressure sensor 5 and the thin film sensor group 6 and sends a first instruction, when the first driving unit and the second driving unit receive the first instruction, the limb exoskeleton is driven to assist the user to lift the thigh and bend the knee, at the moment, the whole sole of the user completely leaves the ground, the control unit then receives the signal of the complete sole lift-off of the user transmitted by the pressure sensor 5 and the membrane touch sensor group 6 and sends out a second instruction, and the first driving unit and the second driving unit receive the second instruction, drive the limb exoskeleton to assist a user to straighten the knee and put down the thigh, and further assist the user to take a step forwards.
The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be appreciated by a person skilled in the art that the scope of the invention according to the present application is not limited to the specific combination of the above-mentioned features, but also covers other embodiments where any combination of the above-mentioned features or their equivalents is made without departing from the inventive concept. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.
Claims (10)
1. A passive foot assisting mechanism integrating double sensors and heterogeneous elastic elements is characterized by comprising:
a multi-layer composite baseplate for mounting at the foot sole of a user;
one end of the first connecting piece (1) is fixedly connected with the side face of the multilayer composite bottom plate;
the second connecting piece (2) is arranged at one end, far away from the multilayer composite bottom plate, of the first connecting piece (1);
the fisheye bearing (3) is arranged between the first connecting piece (1) and the second connecting piece (2), the fixed end of the fisheye bearing (3) is fixedly connected with the first connecting piece (1), and the rotating end of the fisheye bearing is rotatably connected with the second connecting piece (2);
the elastic piece (4) is arranged between the first connecting piece (1) and the second connecting piece (2), and two ends of the elastic piece (4) are fixedly connected with the first connecting piece (1) and the second connecting piece (2) respectively.
2. The passive foot assisting mechanism combining the dual sensors and the heterogeneous elastic element according to claim 1, wherein a plurality of pressure sensors (5) are embedded in the multilayer composite bottom plate at the front sole and the heel for measuring a first pressure value at the front sole and a second pressure value at the rear heel when a user walks.
3. The passive foot assisting mechanism combining the dual sensors and the heterogeneous elastic element according to claim 2, further comprising a control unit, wherein an input end of the control unit is connected with an output end of the pressure sensor (5) and is configured to:
receiving a first pressure value and calculating a first average value of the first pressure value at the same moment; receiving a second pressure value and calculating a second average value of the second pressure value at the same moment;
judging that the first average value at the current moment is larger than the first average value at the previous moment, and the second average value at the current moment is smaller than the second average value at the previous moment, and outputting a first instruction by the control unit;
and when the first average value and the second average value at the current moment are both judged to be zero, the control unit outputs a second instruction.
4. The passive foot assisting mechanism integrating the dual sensors and the heterogeneous elastic element as claimed in claim 3, wherein a thin film sensor group (6) is arranged on the surface of the multilayer composite bottom plate contacting with the user for measuring the pressure value of the sole of the foot when the user walks.
5. The passive foot assisting mechanism integrating double sensors and heterogeneous elastic elements according to claim 4, wherein a plurality of first thin film sensors (6-1), second thin film sensors (6-2) and third thin film sensors are arranged on the thin film sensor group (6); the intersection of the front sole and the big toe of the thin film sensor group (6) is a first sensing area, and a plurality of first thin film sensors (6-1) are distributed on the first sensing area and used for measuring a third pressure value on the first sensing area; the rear heel of the thin film sensor group (6) is a second sensing area, and a plurality of second thin film sensors (6-2) are distributed on the second sensing area and used for measuring a fourth pressure value on the second sensing area; the middle part of the sole of the thin film sensor group (6) is a third sensing area, and a plurality of third thin film sensors (6-3) are distributed on the third sensing area and used for measuring a fifth pressure value on the third sensing area.
6. The passive foot assisting mechanism integrating double sensors and heterogeneous elastic elements according to claim 5, wherein the input end of the control unit is further connected with the output end of the thin film sensor group (6) and is configured to:
receiving the third pressure value and calculating a third mean value of the third pressure value; receiving the fourth pressure value and calculating a fourth mean value of the fourth pressure value; receiving the fifth pressure value and calculating a fifth mean value of the fifth pressure value;
judging that the third average value at the current moment is larger than the third average value at the previous moment, the fourth average value at the current moment is smaller than the fourth average value at the previous moment, the fifth average value at the current moment is smaller than the fifth average value at the previous moment, the first average value at the current moment is larger than the first average value at the previous moment, and the second average value at the current moment is smaller than the second average value at the previous moment, and outputting a first instruction by the control unit;
and judging that the third mean value, the fourth mean value and the fifth mean value at the current moment and the first mean value and the second mean value at the current moment are all zero, and outputting a second instruction by the control unit.
7. The passive foot assisting mechanism integrating the dual sensors and the heterogeneous elastic element according to claim 2, wherein the multilayer composite bottom plate specifically comprises:
the pressure sensor comprises a lower bottom plate (12) and an upper bottom plate (13), wherein the lower bottom plate (12) is fixedly connected with the upper bottom plate (13), and a placing hole (13-1) for embedding the pressure sensor (5) is formed in the upper bottom plate (12);
the elastic plate (14) is fixedly connected between the lower bottom plate (12) and the upper bottom plate (13) and is positioned at the position of the front sole;
heel connecting piece (15), heel connecting piece (15) fixed connection in lower plate (12) with between upper plate (13), and be located the position of heel, heel connecting piece (15) with elastic plate (14) fixed connection.
8. The passive foot assisting mechanism integrating the dual sensors and the heterogeneous elastic element according to claim 1, wherein a connecting shaft (11) is arranged on the second connecting piece (2), an inner ring of the fisheye bearing (3) is sleeved on the connecting shaft (11), and one end, close to the first connecting piece (1), of the fisheye bearing (3) is provided with an external thread for threaded connection of the first connecting piece (1).
9. A limb exoskeleton comprising a knee joint assembly and a passive foot assistance structure incorporating dual sensors and heterogeneous elastic elements according to claim 1, wherein the knee joint assembly comprises a thigh support and a shank support, the end of the thigh support and the end of the shank support close to each other are rotatably connected, and the end of the shank support far from the thigh support is fixedly connected with the second connecting member (2);
the first driving unit has a first state and a second state, and when the first driving unit is in the first state, the first driving unit drives the thigh support and the shank support to rotate to a bending state; when the first driving unit is in the second state, the thigh support and the shank support are driven by the first driving unit to rotate to a straightened state.
10. A limb exoskeleton as claimed in claim 9 further comprising a control unit as claimed in claim 5, wherein the output of the control unit is connected to the input of the first drive unit, and the first drive unit transitions to a first state when the first drive unit receives the first command; and when the first driving unit receives the second instruction, the first driving unit is converted into a second state.
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