CN115570557A - Walking-aid flexible passive exoskeleton shaped like tight pants - Google Patents
Walking-aid flexible passive exoskeleton shaped like tight pants Download PDFInfo
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- CN115570557A CN115570557A CN202211224235.XA CN202211224235A CN115570557A CN 115570557 A CN115570557 A CN 115570557A CN 202211224235 A CN202211224235 A CN 202211224235A CN 115570557 A CN115570557 A CN 115570557A
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- waistband
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- 230000005540 biological transmission Effects 0.000 claims abstract description 43
- 239000000463 material Substances 0.000 claims abstract description 14
- 210000000689 upper leg Anatomy 0.000 claims abstract description 13
- 239000004753 textile Substances 0.000 claims abstract description 11
- 244000309466 calf Species 0.000 claims abstract description 5
- 239000000758 substrate Substances 0.000 claims abstract description 5
- 230000000712 assembly Effects 0.000 claims description 10
- 238000000429 assembly Methods 0.000 claims description 10
- 210000000629 knee joint Anatomy 0.000 claims description 9
- 230000002146 bilateral effect Effects 0.000 claims description 6
- 238000012546 transfer Methods 0.000 claims description 6
- 239000004744 fabric Substances 0.000 claims description 4
- 210000002414 leg Anatomy 0.000 claims 1
- 210000002683 foot Anatomy 0.000 abstract description 15
- 210000003141 lower extremity Anatomy 0.000 abstract description 14
- 210000001624 hip Anatomy 0.000 abstract description 10
- 210000003205 muscle Anatomy 0.000 abstract description 9
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- 210000003423 ankle Anatomy 0.000 abstract description 2
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- 238000007906 compression Methods 0.000 abstract description 2
- 230000002503 metabolic effect Effects 0.000 abstract description 2
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- 210000000544 articulatio talocruralis Anatomy 0.000 description 9
- 230000005021 gait Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 5
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- 230000007547 defect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
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- 210000001503 joint Anatomy 0.000 description 2
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- 229920000728 polyester Polymers 0.000 description 1
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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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a walking-aid flexible passive exoskeleton which is similar to tight pants and takes a set of stretching elastic system as a core, and comprises a tight pants substrate, a waistband component, a force transmission belt component, an elastic belt component and a foot sleeve component, wherein the flexible components form an elastic force transmission path which extends from the front waist of a human body to the ankles through thighs and calves. The elasticity of the textile material contained in the elastic force transmission path itself, as well as the elasticity of the muscles present as a result of its normal compression against the muscle surfaces of the lower limbs during exercise, together constitute the stiffness characteristic of a stretch elastic system. It generates an assisting force in a passive manner in a human body walking exercise without an external energy source, and reduces the metabolic energy consumption of the human body through kinetic energy recovery. Meanwhile, in order to improve the wearing performance of the exoskeleton as much as possible, the pair of sports pants is designed according to the style of the pair of sports pants, and the requirements of easiness in wearing, easiness in sports, enough comfort and enough daily life are met.
Description
Technical Field
The invention relates to the technical field of lower limb assistance exoskeletons, in particular to a walking aid flexible passive exoskeletons similar to tight trousers in shape.
Background
Exoskeletons, as a robot technology highly related to human body movement, have become a new research focus in many industries. For some user groups who often need to walk for a long time, such as military people needing marching or hiking enthusiasts, the specially designed lower limb exoskeleton can also assist the walking movement of the military people, and plays roles in reducing physical consumption and enhancing endurance.
The traditional exoskeleton is mainly designed in an active rigid robot mode, although the exoskeleton has excellent bearing capacity, on one hand, the exoskeleton is limited by energy and power components, the weight and the size of the exoskeleton are large, on the other hand, the load of a human body is increased, the physical cost of walking movement is improved, the assisting effect is poor, and the problems of cruising, control and the like need to be solved in the using process; on the other hand, the wear is poor, and the problems that the wearing and the taking off are difficult, the body is difficult to adapt to different body types, the self-movement of the body is easy to interfere, the skin surface comfort is poor, the appearance is different and the like are presented. Therefore, in order to solve the above technical problems, a flexible and passive exoskeleton device with both practicability and wearing property needs to be designed to overcome the defect of the active rigid exoskeleton.
Disclosure of Invention
The invention aims to overcome the defects of the traditional exoskeleton in the prior art, and provides a walking-aid flexible passive exoskeleton shaped like tight trousers, which can passively generate auxiliary force for assisting walking in walking during walking movement of a human body, reduce physical consumption of the human body under the working condition of long-time walking and enhance endurance of the human body.
The purpose of the invention can be achieved by adopting the following technical scheme:
firstly, the invention imitates the function of the plantar flexor of the ankle joint on the shank of a human body, and provides the moment in the plantar flexion direction for the ankle joint at the end of the single support phase of a gait cycle, thereby assisting the plantar flexor of the ankle joint to do work to complete the action of lifting the heel and stepping the ground. In the process, the lower limb muscles reduce the burden of doing positive work due to the assistance of the exoskeleton, so that the functions of reducing the physical energy consumption of a human body and improving the endurance are achieved.
Secondly, according to the phenomenon that each group of muscles exerts force to brake for the purpose of slowing down the gravity center of the human body in the later period of the single support phase of the gait cycle of the lower limbs of the human body, the exoskeleton appropriately hinders the movement of the lower limbs in the period, so that the elastic system stores energy, and external braking force is formed at the same time. In the process, due to the braking force of the exoskeleton, the burden of doing negative work is reduced by the muscles of the lower limbs, so that the physical energy consumption of a human body can be reduced, and the effect of improving the endurance is achieved.
In order to realize the combination of the two points, the invention designs the walking-aid flexible passive exoskeleton which takes a set of stretching elastic system as a core and is shaped like tight trousers. The set of stretching elastic system enables the lower limbs of the human body to stretch the exoskeleton to be braked by the counterforce of the exoskeleton in the later stage of the single support phase of the gait cycle, meanwhile, the exoskeleton also converts the kinetic energy of the human body into elastic potential energy to be temporarily stored, when the exoskeleton enters the later stage of the single support phase of the gait cycle, the exoskeleton can relax and contract along with the action of lifting the heels and stepping the ground of the lower limbs of the human body, the stored elastic potential energy is released, and an auxiliary moment for the plantar flexion direction of the ankle joint is formed.
To achieve the tensile elastic system described above, the present invention uses a plurality of flexible members to form an elastic force transmission path extending from the front waist, through the thighs and calves, to the ankles. The elasticity of the textile material contained in the elastic force transmission path itself, as well as the elasticity of the muscles present as a result of its normal compression against the muscle surface of the lower limb during movement, together constitute the stiffness characteristic of the tensile elastic system.
A walking-aid flexible passive exoskeleton similar to tights, which comprises a tights substrate, a waistband component, a force transmission belt component, an elastic belt component and a foot sleeve component, wherein,
the panty liner is made of an elastic textile material;
the waistband component comprises a waistband rear wall and two parts of a waistband left wing and a waistband right wing, and is made of tough textile materials; the waistband rear wall is fixed on the rear half ring part of the waistband of the panty liner, the left end and the right end of the waistband rear wall freely extend to the left wing and the right wing of the waistband, the left wing and the right wing of the waistband are symmetrically arranged, surround the front half ring and are overlapped and fastened, and the waistband rear wall is matched with the waistband to wrap the waist of a human body;
the force transmission belt assemblies are arranged in a bilateral symmetry mode and are respectively connected with the waistband assemblies and the elastic belt assemblies, the force transmission belt assemblies are made of tough textile materials and are in a long belt shape, and the force transmission belt assemblies are sewn on the panty liner and fixedly connected with the panty liner so as to strengthen the tensile rigidity characteristic of the paths of the webbings;
the elastic band component is arranged in a bilateral symmetry manner and comprises an upper part and a lower part, the upper part is an elastic unit part and is in a long belt shape, and the upper part is connected with a fastener of the force transmission band component; the lower part is a tough woven belt part which is in a long belt shape, the lower part is fixedly connected with the lower end of the elastic unit part, and the lower part is movably connected or fastened with the foot sleeve assembly;
the foot sleeve components are arranged in a bilateral symmetry mode and made of tough cloth, a tightening belt ring is arranged in the middle of the foot sleeve components and is guaranteed not to loosen under the condition that the tightening belt ring is pulled, and the tightening belt ring is fixed on the instep.
Furthermore, the waistband assembly is fixedly connected with the panty liner only at the rear part of the waistband, and the material of the panty liner at the front half of the waistline can be freely and elastically expanded to adapt to the waistlines of different wearers within a certain range.
Furthermore, the overlapping area of the left wing and the right wing of the waistband assembly is provided with a magic tape or a row buckle, the center of the lower edge of the left wing and the right wing of the waistband is provided with a connecting fastener, and the connecting fastener is connected with the force transmission belt assembly to realize the pre-tightening of an elastic force transmission path.
Further, the force transfer belt assembly extends downwards from the center of the front side of the thigh of the panty liner, then branches off the inner side and the outer side of the thigh, continues to extend downwards in a mode of clamping the thigh, and finally meets the rear side of the shank of the panty liner.
Furthermore, the path of the force transmission belt assembly shunting packet clamping thighs passes through the knee joint rotating shaft, and the projection line of the force transmission belt path on the sagittal plane of a human body passes through the projection point of the knee joint rotating shaft, so that the negative influence of the exoskeleton on the knee joint is avoided.
Furthermore, a local path is reserved at the position of the force transmission belt assembly passing through the knee joint rotating shaft and is not fixedly connected with the bottom of the close-fitting trousers, an extension section is freely extended from the uppermost end of the force transmission belt assembly to be connected with fasteners of the left wing and the right wing of the waistband assembly, and a connecting fastener is arranged at the intersection point of the lowermost end of the force transmission belt assembly to be connected with the elastic belt assembly.
Further, the upper elastic unit of the elastic band assembly is fixedly connected with the lower tough braid of the elastic band assembly.
Furthermore, one end of the foot sleeve component is provided with a magic tape or a clamping groove which is movably connected with the lower part of the elastic band component, so that the foot sleeve component is convenient to put on and take off.
Compared with the prior art, the invention has the following advantages and effects:
(1) Compared with the traditional rigid active exoskeleton, the walking-aid flexible passive exoskeleton does not need a power device and a control element, greatly reduces the weight of the exoskeleton and the complexity of a system, and reduces the metabolic punishment caused by the extra weight of a human body.
(2) All components of the walking-aid flexible passive exoskeleton all adopt flexible members, the problem that the rigid exoskeleton is difficult to align with the rotation center of human joints is solved, the wearing performance is good, and the influence on the coordinated movement of the human joints is reduced.
(3) The walking-aid flexible passive exoskeleton normally presses muscles to store energy through the force transmission belt, and breaks through the limitation that the traditional passive exoskeleton uses rigid springs to store energy.
(4) The walking aid flexible passive exoskeleton adopts a modular design, is easy to replace components with different sizes so as to meet the use requirements of wearers with different statures, and has low manufacturing cost.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a front elevational view of a lower extremity after wearing an exoskeleton according to the present invention;
FIG. 2 is a side view of the lower extremities of the exoskeleton of the present invention after wearing the exoskeleton;
FIG. 3 is a rear elevational view of the lower limbs after the exoskeleton is worn in accordance with the present invention;
description of reference numerals: 1-waistband left wing; 2-waistband right wing; 3-upper fastener; 4-a force transmission belt component; 5-lower fastener; 6-elastic band component; 7-a foot cover assembly; 8-tights substrate.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
As shown in figure 1, the panty liner 8 is made of an elastic textile material, such as cotton or polyester, to meet the requirements of fit, skin-friendliness, breathability and perspiration. The panty liner 8 serves as a wearing base to which several strong straps are stitched, including the belt assembly and the belt assembly 4, in order to enhance the tensile stiffness or support characteristics over the particular path in which these straps are located. These straps are made of a strong textile material, such as a tight nylon fabric, and are attached to the panty liner 8 surface by stitching, as indicated by the fine lines on each strap in figure 1.
The waistband assembly comprises a waistband rear wall and a waistband left wing part 1 and a waistband right wing part 2 in the picture 1, the waistband left wing part 1 and the waistband right wing part 2 are two ends of the waistband assembly, the waistband rear wall is arranged between the waistband left wing part 1 and the waistband right wing part 2, and the waistband rear wall is sewn on the rear half of the waistband so as to enhance the supporting rigidity between the waistband rear wall and the human body rear waist. The left waistband wing 1 and the right waistband wing 2 are not fixedly connected with the panty liner 8, so that the front half of the panty waist with elasticity is reserved for being matched with the body shapes of different wearers within a certain range. Need fasten, method for example magic subsides or row buckle etc. between dress back waistband left wing 1 and the waistband right wing 2 to the parcel to whole waist is realized.
The lower edges of the left wing 1 and the right wing 2 of the waistband are positioned at the center of the thigh, and are connected with an upper fastening piece 3, and a Chinese character 'ri' buckle or other fastening pieces with adjustability and self-locking property can be adopted for connecting the upper extension section of the force transmission belt component 4. The upper fastener 3 can adjust the length of an extension section above the force transmission belt assembly 4 and is locked for pre-tightening an elastic force transmission path of the exoskeleton.
The force transfer belt assembly 4 is the core component of the present invention and is made of a tough textile material, in this embodiment nylon. The force transfer belt assembly 4 is divided into two parts: the first part is an extension section positioned above and used for connecting the upper fastening piece 3, and the extension section is not fixedly connected with the panty liner 8; the second part is separated and extended from the inner side and the outer side, clamps the thigh and finally meets the center of gastrocnemius of the calf; the force transfer belt assembly 4 is fixedly connected with the panty liner 8, wherein a partial path is left at the position passing through the knee joint rotating shaft and is not fixedly connected with the panty liner 8, and the force transfer belt assembly can be freely loosened without tension.
The lower end of the lower part of the force transmission belt component 4 is connected with a lower fastening piece 5 which can adopt a Chinese character ri buckle or other fastening pieces with adjustability and self-locking property and is used for connecting an elastic belt component 6. The length of the elastic band component 6 can be adjusted and locked, and the elastic band component is used for pre-tightening the elastic force transmission path of the exoskeleton.
The elastic band assembly 6 is another core component of the present invention and is the most obvious series elastic unit in the exoskeleton elastic force transmission path. It should be noted that in this embodiment, the elastic band assembly 6 is made of the same material as the force transmission band assembly 4, and in this embodiment, the elastic band assembly 6 will make the whole set of exoskeleton to have the highest rigidity, the theoretically highest auxiliary force and the optimal assistance performance.
The tail end of the lower part of the elastic band component 6 is movably connected with the bottom of the heel of the foot sleeve component 7 in a mode of magic tape or clamping with a clamping groove and the like so as to ensure reliable fastening and convenient replacement. It should be noted that, in this embodiment, the foot cover assembly 7 is worn on the foot, wraps the bottom of the heel and a small portion of the instep, is attached to the heel, is made of a tough fabric, and can be hidden in a daily sneaker.
During use, the user should first fasten the right and left waist belts 1 and 2 to wrap the waist, and then adjust the upper and lower fasteners 3 and 5 to ensure that the force-transmitting belt assembly 4 and the elastic belt assembly 6 are not loosened, and then walk. In the walking process, in the middle and later stages of a single support phase of a gait cycle, the hip joint extends and the ankle joint bends, the force transmission belt component 4 and the elastic belt component 6 are stretched, and the force transmission belt component 4 and the elastic belt component 6 can form a reaction elastic force to act on the ankle joint. Meanwhile, due to the special distribution structure of the force transmission belt assembly 4, the force transmission belt assembly 4 can normally press muscles of thigh and calf parts, and the elastic force of reaction is further enhanced. One end of the elasticity is transmitted to the waistband through the upper fastening piece 3 and is supported by the back waist of the human body; the other end forms a moment in the plantar flexion direction to the ankle joint, and the moment helps the lower limbs of the human body brake. Until the end of the single support phase of the gait cycle is transited, the hip joint extends and decelerates until the single support phase stops rotating, the knee joint starts to flex, the ankle joint starts to plantarflex, the whole stretched elastic force transmission path starts to relax in the previous period, the stored elastic potential energy is released, the moment in the plantarflex direction of the ankle joint helps the human body to complete the action of lifting the heel and stepping the ground, and the assistance to walking is realized.
Example 2
In another embodiment of the present invention, the exoskeleton is the exoskeleton wearing device as in embodiment 1, and for the detailed structure of the exoskeleton brief substrate, the waist belt assembly, the force transmission belt assembly and the elastic belt assembly, see embodiment 1, the use process of the exoskeleton refers to the corresponding parts in embodiment 1, and will not be described herein.
Different from the embodiment 1, in the embodiment, the foot sleeve assembly adds the lengthened force arm above the heel to improve the auxiliary torque of the exoskeleton, and specifically, the lengthened force arm is a 3D printing PLA material. As shown in Table 1, the lengthening force arms of the foot sleeves with different lengths are measured through experiments and correspond to different peak auxiliary moments. Different wearers can choose for use different podotheca extension arm of force according to self needs, realizes the adjustment of auxiliary torque size, makes the wearer obtain comfortable wearing and experiences.
Other configurations of the exoskeleton not mentioned above may be adopted as long as the configuration of embodiment 1 is adopted.
TABLE 1 auxiliary force moment meter for lengthening force arm corresponding to peak value of foot sleeve with different length
| Lengthening arm of force of foot sleeve (mm) | 50 | 75 | 100 |
| Peak assist torque (Nm) | 3.09 | 4.93 | 7.01 |
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (8)
1. A walking-aid flexible passive exoskeleton shaped like tight pants is characterized by comprising a tight pants substrate, a waistband assembly, a force transmission belt assembly, an elastic belt assembly and a foot sleeve assembly, wherein,
the panty liner is made of an elastic textile material;
the waistband component comprises a waistband rear wall, a waistband left wing and a waistband right wing, and is made of tough textile materials; the waistband rear wall is fixed on the rear half part of the waistband of the panty liner, the left end and the right end of the waistband rear wall freely extend to the left wing and the right wing of the waistband, the left wing and the right wing of the waistband are symmetrically arranged, surround the front half ring and are overlapped and fastened, and the waistband rear wall is matched with the waistband to wrap the waist of a human body;
the force transmission belt assemblies are arranged in a bilateral symmetry mode and are respectively connected with the waistband assemblies and the elastic belt assemblies, the force transmission belt assemblies are made of tough textile materials and are in a long belt shape, and the force transmission belt assemblies are sewn on the foundation of the close-fitting pants and are fixedly connected with the foundation of the close-fitting pants;
the elastic band component is arranged in a bilateral symmetry mode and comprises an upper part and a lower part, the upper part is an elastic unit part which is in a long belt shape, and the upper part is connected with a fastening piece of the force transmission band component; the lower part is a tough woven belt part which is in a long belt shape, the lower part is fixedly connected with the lower end of the elastic unit part, and the lower part is movably connected or fastened with the foot sleeve component;
the foot sleeve components are arranged in a bilateral symmetry mode and made of tough cloth, and elastic belt rings are arranged in the middle of the foot sleeve components and fixed on the instep.
2. The walking aid flexible passive exoskeleton of claim 1 wherein said waist belt assembly is fixedly connected to said panty liner only at a rear waist portion of said waist belt, said panty liner being free to elastically expand at a front waist portion of said waist.
3. The walking aid flexible passive exoskeleton of claim 1, wherein the waistband assembly is provided with a magic tape or a row buckle at the overlapping area of the left and right wings, and a connecting fastener is arranged at the center of the lower edge of the left and right wings, and the force transmission belt assembly is connected through the connecting fastener.
4. The walking aid flexible passive exoskeleton of claim 1, wherein said force transfer belt assembly extends downward from the center of the front side of the thigh of said panty liner, then splits the inner and outer sides of the thigh, continues downward in a manner of sandwiching the thigh, and finally merges with the back side of the calf of said panty liner.
5. The walking aid flexible passive exoskeleton of claim 1, wherein the path of the force transmission belt assembly around the thigh passes through the knee joint rotation axis, and the projection line of the force transmission belt path on the sagittal plane of the human body passes through the projection point of the knee joint rotation axis.
6. The walking aid flexible passive exoskeleton of claim 1, wherein the force transmission belt assembly leaves a local path through the knee joint rotation axis without being fixedly connected with the bottom of the tights, an extension part is freely extended from the uppermost end of the force transmission belt assembly to connect fasteners of left and right wings of the waistband assembly, and a connecting fastener is arranged at the intersection of the lowermost end of the force transmission belt assembly to connect the elastic belt assembly.
7. The walking aid flexible passive exoskeleton of claim 1, wherein an upper portion of the elastic band assembly is an elastic unit and a lower portion of the elastic band assembly is a tough webbing to which the lower portion of the elastic band assembly is fixedly attached.
8. The walking aid flexible passive exoskeleton of claim 1, wherein one end of the leg cuff assembly is provided with a magic tape or a snap groove, and the magic tape or the snap groove is movably connected with the lower part of the elastic band assembly.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211224235.XA CN115570557B (en) | 2022-10-08 | 2022-10-08 | Walking-aid flexible passive exoskeleton shaped like tights |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211224235.XA CN115570557B (en) | 2022-10-08 | 2022-10-08 | Walking-aid flexible passive exoskeleton shaped like tights |
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| CN115570557B CN115570557B (en) | 2024-08-30 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104869969A (en) * | 2012-09-17 | 2015-08-26 | 哈佛大学校长及研究员协会 | Soft exosuit for assistance with human motion |
| US20170202724A1 (en) * | 2013-12-09 | 2017-07-20 | President And Fellows Of Harvard College | Assistive Flexible Suits, Flexible Suit Systems, and Methods for Making and Control Thereof to Assist Human Mobility |
| KR101815640B1 (en) * | 2017-06-30 | 2018-01-08 | 이동찬 | Soft exoskeleton apparatus |
| CN109223428A (en) * | 2017-07-10 | 2019-01-18 | 松下知识产权经营株式会社 | Auxiliary device and householder method |
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2022
- 2022-10-08 CN CN202211224235.XA patent/CN115570557B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104869969A (en) * | 2012-09-17 | 2015-08-26 | 哈佛大学校长及研究员协会 | Soft exosuit for assistance with human motion |
| US20170202724A1 (en) * | 2013-12-09 | 2017-07-20 | President And Fellows Of Harvard College | Assistive Flexible Suits, Flexible Suit Systems, and Methods for Making and Control Thereof to Assist Human Mobility |
| KR101815640B1 (en) * | 2017-06-30 | 2018-01-08 | 이동찬 | Soft exoskeleton apparatus |
| CN109223428A (en) * | 2017-07-10 | 2019-01-18 | 松下知识产权经营株式会社 | Auxiliary device and householder method |
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