CN115006205A - Modular wearable lower limb exoskeleton - Google Patents

Modular wearable lower limb exoskeleton Download PDF

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Publication number
CN115006205A
CN115006205A CN202210552187.0A CN202210552187A CN115006205A CN 115006205 A CN115006205 A CN 115006205A CN 202210552187 A CN202210552187 A CN 202210552187A CN 115006205 A CN115006205 A CN 115006205A
Authority
CN
China
Prior art keywords
exoskeleton
hip
foot
knee
wearable lower
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202210552187.0A
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Chinese (zh)
Inventor
平雅沁
唐智川
余明洁
蔡颖颖
王盈盈
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhejiang University of Technology ZJUT
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Zhejiang University of Technology ZJUT
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Publication date
Application filed by Zhejiang University of Technology ZJUT filed Critical Zhejiang University of Technology ZJUT
Priority to CN202210552187.0A priority Critical patent/CN115006205A/en
Publication of CN115006205A publication Critical patent/CN115006205A/en
Pending legal-status Critical Current

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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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • 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
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/112—Gait analysis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
    • A61B5/316—Modalities, i.e. specific diagnostic methods
    • A61B5/389—Electromyography [EMG]
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • 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
    • A61H2201/164—Feet or leg, e.g. pedal
    • A61H2201/1642—Holding means therefor
    • 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
    • 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
    • A61H2230/00—Measuring physical parameters of the user
    • A61H2230/08—Other bio-electrical signals
    • A61H2230/085—Other bio-electrical signals used as a control parameter for the apparatus

Abstract

A wearable lower limb exoskeleton of modularization belongs to the technical field of mechanical exoskeleton. The waist mechanism, the hip joint exoskeleton, the knee joint exoskeleton and the ankle joint exoskeleton are sequentially arranged from top to bottom; the waist mechanism and the hip joint exoskeleton, the hip joint exoskeleton and the knee joint exoskeleton and the ankle joint exoskeleton are hinged; an electric push rod is arranged between the knee joint exoskeleton and the ankle joint exoskeleton. The assembly-on-demand and real-time feedback of the walking state of the walking assisting exoskeleton can be realized, the assembly design of the modular motion structure is adopted, the assembly-on-demand can be carried out according to the motion disability positions of different users, and meanwhile, the flexibility of system operation can be improved and the user experience can be improved due to the modular motion structure; the myoelectric sensor and the sole pressure sensor are arranged to detect myoelectric signals and sole pressure data in the exercise process, and real-time lower limb exercise state can be fed back to a user through data feedback.

Description

Modular wearable lower limb exoskeleton
Technical Field
The invention belongs to the technical field of mechanical exoskeletons, and particularly relates to a modular wearable lower limb exoskeleton.
Background
The exoskeleton robot has a certain research foundation as a new technology, and the exoskeleton device is a mechanical device which can be worn outside a human body, can conform to limb movement, assists upper and lower limbs to bear dead weight or load, and has a wide application prospect in the fields of rehabilitation medicine, emergency rescue, military industry and the like.
However, the current numerous walking-aid exoskeleton products in research and test stages or in commercial landing have the following defects:
1. the limb curve of the user is difficult to fit, and the limb curve cannot be closely matched with the limb movement;
2. different users have different movement disability parts, the conventional exoskeleton equipment cannot be assembled according to needs, and the integrated mechanical structure is inflexible in movement, so that the user experience is influenced to a certain extent;
3. the existing walking assisting exoskeleton equipment cannot enable a user to know the bearable strength of limbs and the walking state data in the walking movement process to check, and is lack of feedback.
Disclosure of Invention
In view of the above problems in the prior art, the present invention provides a modular wearable lower extremity exoskeleton system, which can realize the on-demand assembly of a walking aid exoskeleton and the real-time feedback of the walking state.
The invention provides the following technical scheme:
a modular wearable lower limb exoskeleton comprises a waist mechanism, a hip joint exoskeleton, a knee joint exoskeleton and an ankle joint exoskeleton which are sequentially arranged from top to bottom; the waist mechanism and the hip joint exoskeleton, the hip joint exoskeleton and the knee joint exoskeleton and the ankle joint exoskeleton are hinged; an electric push rod is arranged between the knee joint exoskeleton and the ankle joint exoskeleton.
Furthermore, the lumbar mechanism comprises a lumbar support, a lumbar flexible lining and a lumbar strap, wherein the lumbar flexible lining and the lumbar strap are arranged on the inner side of the lumbar support in a matched mode.
Furthermore, the hip joint exoskeleton comprises a left hip mechanism and a right hip mechanism, and the left hip mechanism and the right hip mechanism are hinged with the lumbar support through the hip joint motor mechanism.
Furthermore, the left hip mechanism and the right hip mechanism are arranged in a mirror image manner, have the same structure and respectively comprise a thigh supporting framework and a thigh flexible lining fixedly arranged on the inner side of the thigh supporting framework; a group of leg binding bands are arranged on the thigh supporting framework in a penetrating way; a group of myoelectric sensors are arranged inside the thigh flexible lining.
Furthermore, the knee joint exoskeleton comprises a knee joint motor mechanism, a left shank support piece and a right shank support piece, and the left shank support piece and the right shank support piece are hinged with the hip mechanism on the corresponding side of the hip joint exoskeleton through the knee joint motor mechanism.
Furthermore, the left calf support and the right calf support are arranged in a mirror image manner, have the same structure and respectively comprise calf support skeletons and calf flexible linings fixedly arranged on the inner sides of the calf support skeletons; a group of shank binding bands are arranged on the shank supporting framework, and the electric push rod is arranged on the outer side of the shank supporting framework; a group of myoelectric sensors are arranged inside the flexible liner of the shank.
Furthermore, the ankle joint exoskeleton comprises a left foot mechanism and a right foot mechanism, and the left foot mechanism and the right foot mechanism are respectively hinged with the shank support piece on the corresponding side in the knee joint exoskeleton.
Furthermore, the left foot mechanism and the right foot mechanism are arranged in a mirror image mode, the left foot mechanism and the right foot mechanism are identical in structure and respectively comprise a foot bottom plate, a flexible pad is arranged on the upper surface of the foot bottom plate, a group of plantar pressure sensors are arranged on the flexible pad, an anti-slip pad is arranged on the lower surface of the foot bottom plate, a strip-shaped foot binding belt is arranged at the supporting position of the foot bottom plate, and a group of magic tapes are arranged on the foot binding belt; the foot bottom plate is hinged with the output end of the electric push rod.
Furthermore, the hip joint motor mechanism and the knee joint motor mechanism are horizontal shaft mechanisms, the structures of the hip joint motor mechanism and the knee joint motor mechanism are the same, the hip joint motor mechanism and the knee joint motor mechanism both comprise a motor shaft and a direct current inductive brushless motor installed on the motor shaft, the motor shaft is installed on a thigh supporting framework or a shank supporting framework, and the direct current inductive brushless motor is driven by a direct current inductive brushless motor driver.
Furthermore, the waist mechanism, the thigh supporting framework, the shank supporting framework and the foot bottom plate are all manufactured in a 3D printing mode.
By adopting the technology, compared with the prior art, the invention has the following beneficial effects:
the assembly-on-demand and real-time feedback of the walking state of the walking assisting exoskeleton can be realized, the assembly design of the modular motion structure is adopted, the assembly-on-demand can be carried out according to the motion disability positions of different users, and meanwhile, the flexibility of system operation can be improved and the user experience can be improved due to the modular motion structure; the myoelectric sensor and the sole pressure sensor are arranged to detect myoelectric signals and sole pressure data in the exercise process, and real-time lower limb exercise state can be fed back to a user through data feedback.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the lumbar mechanism of the present invention;
FIG. 3 is a schematic structural view of the hip exoskeleton of the present invention;
FIG. 4 is a schematic structural view of the exoskeleton of the knee joint of the present invention;
FIG. 5 is a schematic diagram of the configuration of the ankle exoskeleton of the present invention;
FIG. 6 is an exploded view of the hip joint motor mechanism assembly of the present invention;
fig. 7 is an exploded view of the knee joint motor mechanism assembly structure of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in 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.
On the contrary, the invention is intended to cover alternatives, modifications, equivalents and alternatives which may be included within the spirit and scope of the invention as defined by the appended claims. Furthermore, in the following detailed description of the present invention, certain specific details are set forth in order to provide a thorough understanding of the present invention. It will be apparent to one skilled in the art that the present invention may be practiced without these specific details.
Referring to fig. 1-7, a modular wearable lower extremity exoskeleton comprises a waist mechanism 1, a hip joint exoskeleton 2, a knee joint exoskeleton 3 and an ankle joint exoskeleton 4, which are connected in sequence from top to bottom.
Specifically, the lumbar mechanism 1 includes a lumbar support 1.1, a flexible lumbar lining 1.2 disposed inside the lumbar support 1.1, and a lumbar strap 1.3.
Specifically, the hip joint exoskeleton comprises a left hip mechanism and a right hip mechanism, and the left hip mechanism and the right hip mechanism are hinged with a lumbar support 1.1 through a hip joint motor mechanism 5; two sides of the lumbar support 1.1 are rigidly connected with the hip joint motor mechanism 5 through four self-tapping screws.
Specifically, the left hip mechanism and the right hip mechanism are arranged in a mirror image manner, have the same structure and respectively comprise a thigh supporting framework 2.1 and a thigh flexible lining 2.2 fixedly arranged on the inner side of the thigh supporting framework 2.1; two thigh bandage assembling holes 2.3 are respectively formed in two sides of the upper portion of the thigh supporting framework 2.1, a group of thigh bandages 2.4 are assembled, and the thigh supporting framework can be worn in a bandage mode; the top is provided with a group of self-tapping screw holes which are fixedly connected with the waist mechanism 1 through self-tapping screws; one side of the bottom of the thigh support framework 2.1 is rigidly connected with the knee joint motor mechanism 5 through four self-tapping screws, and the other side is provided with a bolt hole which is hinged with the shank support 3 through bolts and nuts.
Specifically, the knee exoskeleton 3 comprises a knee motor mechanism 6, a left calf support and a right calf support, and the left calf support and the right calf support are both hinged to the hip mechanism on the corresponding side of the hip exoskeleton 2 through the knee motor mechanism 6. The left calf support piece and the right calf support piece are arranged in a mirror image mode, have the same structure and respectively comprise a calf support framework 3.1 and a calf flexible lining 3.2 fixedly arranged on the inner side of the calf support framework 3.1; two lower leg bandage assembling holes 3.3 are respectively formed in two sides of the upper portion of the lower leg support outer skeleton 3.1, a group of lower leg bandages 3.4 are assembled, and wearing can be achieved through the form of the bandages; an electric push rod 7 is arranged on the outer side of the knee joint motor mechanism, a group of tapping screw holes are arranged on one side of the top of the knee joint motor mechanism, and the knee joint motor mechanism is connected with the knee joint motor mechanism 6 through four tapping screws; the other side is provided with a bolt hole which is hinged with the thigh supporting part 1 through a bolt and a nut; the bottom of the shank support outer framework 3.1 is provided with a group of bolt holes which are hinged with the foot mechanism 4 through a group of bolts and nuts, and the outer side of the shank support outer framework is connected with the electric push rod 7 through the bolts and the nuts.
Specifically, the ankle exoskeleton 4 comprises a left foot mechanism and a right foot mechanism, and the left foot mechanism and the right foot mechanism are respectively hinged with the corresponding shank support member on one side of the knee exoskeleton 3. The left foot mechanism and the right foot mechanism are arranged in a mirror image mode, have the same structure and comprise foot bottom plates 4.1; the foot bottom plate 4.1 is connected with the output end of the electric push rod 7 in a hinged mode, the upper surface of the foot bottom plate 4.1 is provided with a flexible pad 4.3, the flexible pad 4.3 is provided with a group of plantar pressure sensors, the lower surface of the foot bottom plate 4.1 is provided with an anti-slip pad 4.4, the supporting position of the foot bottom plate 4.1 is provided with a strip-shaped foot bandage 4.5, and the foot bandage 4.5 is provided with a group of magic tapes.
Specifically, the hip joint motor mechanism 5 and the knee joint motor mechanism 6 are identical in structure and respectively comprise a motor shell 5.1, a direct current inductive brushless motor 5.2, a motor shaft 5.3, a bearing 5.4, a motor cover 5.5 and a limiting sleeve 5.6, wherein one side of the motor shaft 5.3 is provided with a group of self-tapping screw holes, and the self-tapping screw holes are rigidly connected with a thigh supporting framework 2.1 or a shank supporting framework 3.1 through four self-tapping screws.
Specifically, the hip joint motor mechanism 5 and the knee joint motor mechanism 6 are both driven by an AQMD6010BLS-Ex direct-current inductive brushless motor driver; the electric push rod 7 is a 75mm electric push rod which is controlled by an L298N driving plate.
The system can drive the hip joint motor mechanism 5, the knee joint motor mechanism 6 and the 75mm electric push rod 7 to move under the drive of an AQMD6010BLS-Ex direct current inductive brushless motor driver and an L298N drive plate according to an external control signal, and further drive the waist mechanism 1, the hip joint exoskeleton 2, the knee joint exoskeleton 3 and the ankle joint exoskeleton 4 to correspondingly move.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims (10)

1. A modular wearable lower limb exoskeleton is characterized by comprising a waist mechanism, a hip joint exoskeleton, a knee joint exoskeleton and an ankle joint exoskeleton which are sequentially arranged from top to bottom; the waist mechanism and the hip joint exoskeleton, the hip joint exoskeleton and the knee joint exoskeleton and the ankle joint exoskeleton are hinged; an electric push rod is arranged between the knee joint exoskeleton and the ankle joint exoskeleton.
2. The modular wearable lower extremity exoskeleton of claim 1 wherein said lumbar mechanism comprises a lumbar support, a lumbar flexible liner fitted inside said lumbar support, and a lumbar strap.
3. The modular wearable lower extremity exoskeleton of claim 2, wherein said hip joint exoskeleton comprises a left hip mechanism and a right hip mechanism, each of which is hingedly connected to said lumbar support via a hip motor mechanism.
4. The modular wearable lower extremity exoskeleton of claim 3, wherein said left and right hip mechanisms are configured as mirror images, and each comprise a thigh support frame and a thigh flexible liner fixedly disposed inside said thigh support frame; a group of leg binding bands are arranged on the thigh supporting framework in a penetrating way; a group of myoelectric sensors are arranged inside the thigh flexible lining.
5. The modular wearable lower extremity exoskeleton of claim 4, wherein said knee exoskeleton comprises a knee motor mechanism, a left calf support and a right calf support, both of which are hingedly connected to a hip mechanism on a corresponding side of said hip exoskeleton via said knee motor mechanism.
6. The modular wearable lower extremity exoskeleton of claim 5, wherein said left and right calf supports are configured as mirror images, and both are structurally identical and comprise a calf support frame and a calf flexible liner fixedly disposed inside said calf support frame; a group of shank binding bands are arranged on the shank supporting framework, and the electric push rod is arranged on the outer side of the shank supporting framework; a group of myoelectric sensors are arranged inside the flexible liner of the shank.
7. The modular wearable lower extremity exoskeleton of claim 6, wherein said ankle exoskeleton comprises a left foot mechanism and a right foot mechanism, each of said left foot mechanism and said right foot mechanism being hingedly connected to a corresponding one of said calf supports in said knee exoskeleton.
8. The modular wearable lower extremity exoskeleton of claim 7, wherein the left foot mechanism and the right foot mechanism are arranged in a mirror image manner, and both have the same structure and comprise foot bottom plates, flexible pads are arranged on the upper surfaces of the foot bottom plates, a group of plantar pressure sensors are arranged on the flexible pads, anti-skid pads are arranged on the lower surfaces of the foot bottom plates, strip-shaped foot straps are arranged at the supporting positions of the foot bottom plates, and a group of magic tapes are arranged on the foot straps; the foot bottom plate is hinged with the output end of the electric push rod.
9. The modular wearable lower extremity exoskeleton of claim 8, wherein said hip and knee joint motor mechanisms are horizontal axis mechanisms, both of which are identical in structure and comprise a motor shaft and a dc inductive brushless motor mounted on the motor shaft, said motor shaft being mounted on the thigh support frame or the calf support frame, said dc inductive brushless motor being driven by a dc inductive brushless motor driver.
10. The modular wearable lower extremity exoskeleton of claim 9, wherein said lumbar mechanism, said thigh support frame, said calf support frame, and said foot plate are fabricated by 3D printing.
CN202210552187.0A 2022-05-20 2022-05-20 Modular wearable lower limb exoskeleton Pending CN115006205A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210552187.0A CN115006205A (en) 2022-05-20 2022-05-20 Modular wearable lower limb exoskeleton

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210552187.0A CN115006205A (en) 2022-05-20 2022-05-20 Modular wearable lower limb exoskeleton

Publications (1)

Publication Number Publication Date
CN115006205A true CN115006205A (en) 2022-09-06

Family

ID=83068758

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210552187.0A Pending CN115006205A (en) 2022-05-20 2022-05-20 Modular wearable lower limb exoskeleton

Country Status (1)

Country Link
CN (1) CN115006205A (en)

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