CN116197878A - Passive flexible wearing dress based on muscle energy storage and sports protective clothing thereof - Google Patents

Abstract

The invention discloses passive flexible wearing apparel based on muscle energy storage and sports protective clothing thereof, which belong to the technical field of wearing apparel, and comprise a soft clothing, a waistband part, a thigh webbing part and a heel part which are connected to the soft clothing, wherein the thigh webbing part comprises a first cross node arranged on the soft clothing at the front side of thigh muscles and a second cross node arranged on the soft clothing at the rear side of shank muscles, at least two stress belts are connected between the two cross nodes in a linear manner along the two sides of legs, and each stress belt takes the shape of wrapping and clamping the thigh muscles; the waistband part is bound on the hip joint of the human body and is connected with the first cross joint, and the heel part is arranged at the joint of the shank and the sole of the human body and is connected with the second cross joint; in walking, the swing of the lower limbs of the human body can drag the stretching of the force transmission path, so that thigh muscles are clamped and form elasticity, thereby forming upward assistance at the ankle joint to help the human body to pedal the foot off the ground, and effectively reducing the physical energy consumption of the human body in walking.

Description

Passive flexible wearing dress based on muscle energy storage and sports protective clothing thereof

Technical Field

The invention belongs to the technical field of wearing apparel, and particularly relates to passive flexible wearing apparel based on muscle energy storage and sports protective clothing thereof.

Background

Walking is the most frequent exercise of humans. Physiological structures of the human body, including musculature and nerves, have evolved to be very good at walking in the evolution of millions of years of biology, on which it is challenging to further improve the walking performance of humans. In order to reduce the physical energy consumption caused by normal walking of the human body, researchers have been devoted to research auxiliary walking wearing equipment. Initially, researchers have attempted to drive the lower extremities of the human body with active devices such that the mechanical work done by the device replaces a portion of the biological work during walking to achieve a reduction in metabolism of the human body. However, active exoskeleton devices, such as motors and batteries, can add mass to the human body. A significant portion of the ancillary action is consumed by the metabolic costs caused by the increased mass. While researchers have developed tethered systems to circumvent this problem, this also makes the exoskeleton difficult to use in a scene outside of the laboratory. In the last decade, many researchers have turned to passive exoskeletons to seek the possibility of achieving higher cost performance. Passive exoskeletons achieve assistance without external energy sources based on elastic energy storage mechanisms, i.e., storing and then returning mechanical work. The passive exoskeleton is beneficial to not need any active equipment, and the whole structure is lighter and simpler, so that the research of the passive exoskeleton is particularly important in the field of walking auxiliary equipment.

In the prior art, as disclosed in chinese patent publication No. CN111840006a, a passive walking-assisting exoskeleton is provided, which comprises a waist fixing support device, a thigh support device, a shank support device, and a foot support device, and is worn on the lower limbs of a user according to the key degrees of freedom and the body space posture of hip, knee and ankle joints in the movement process in the walking process of a healthy body gait. The passive walking assisting exoskeleton adopts a metal spring as a core element thereof to take charge of conversion between kinetic energy and elastic potential energy, and achieves the functions of assisting walking, reducing standing posture and the like to a certain extent. However, the provision of elements such as metal springs prevents the power assisting performance of the passive exoskeleton from being exhibited, and also has a certain influence on wearing comfort. In view of the above, we have found that the wearing fabric and the underlying body tissue are flexible, exhibiting the stiffness property of an elastic unit when the wearing fabric stretches the fabric and presses against the body's musculature as the body moves. The core element of the passive exoskeleton is a suitable elastic unit to take charge of conversion between kinetic energy and elastic potential energy, such as a metal spring for most passive exoskeletons. Although walking of human beings has been very efficient after evolution, energy waste still exists in soft tissues and muscles of human bodies.

Therefore, it is necessary to replace the metal springs of the passive exoskeleton with the stiffness properties of the wearing fabric and the muscle tissue, and to provide a simple and lightweight passive flexible wearing apparel based on muscle energy storage and sports protective clothing thereof, so as to reduce the consumption of metabolic energy during the exercise of people.

Disclosure of Invention

Aiming at the problems in the related art, the invention provides passive flexible wearing apparel based on muscle energy storage and sports protective clothing thereof, so as to overcome the technical problems existing in the prior related art.

The technical scheme of the invention is realized as follows: a passive flexible wearing apparel based on muscle energy storage comprises a soft suit, a waistband part, a thigh webbing part and a heel part which are connected with the soft suit,

the thigh webbing part comprises a first cross node arranged on the thigh muscle front side soft suit and a second cross node arranged on the calf muscle rear side soft suit, at least two stress belts are connected between the two cross nodes in a linear manner along the two sides of the leg, each stress belt spans the knee joint of a human body, takes the shape of clamping thigh muscle by a bag, and adopts a non-stretchable flexible material; the waistband part is bound on the hip joint of the human body and is connected with the first cross joint, and the heel part is arranged at the joint of the shank and the sole of the human body and is connected with the second cross joint;

when in a standing state, two crossed nodes of the thigh webbing part are centrifugally stretched along the surfaces of the legs, thigh muscles are clamped and forced by the stress belt, the thigh muscles store elastic potential energy together with the soft suit, an upward auxiliary moment is applied to the ankle joint, and when the lower limb of a human body swings in advance, the stress belt is quickly shortened, and the elastic potential energy of the thigh muscles and the soft suit is released.

According to the invention, through the design of flexible wearing apparel, a passive exoskeleton is abstracted into a waistband part, a thigh webbing part and a heel part, and is connected with the wearing apparel and the sports protective clothing by stitching, so that the weight of the wearing structure is reduced, and the comfort during wearing is ensured; in walking, the swing of the lower limbs of the human body can drag the stretching of the force transmission path, so that thigh muscles are clamped and form elasticity, thereby forming upward assistance at the ankle joint to help the human body to pedal the foot off the ground, and effectively reducing the physical energy consumption of the human body in walking.

As a further improvement of the above, at the beginning of the stance phase, the hip joint of the wearer stretches and the ankle joint flexes while the knee joint remains fully straightened; the thigh webbing part is continuously and centrifugally elongated along with the movement of the lower limb, the force-bearing belt presses thigh muscles and is fed back with a reaction force which is directed near the hip joint of the human body, one component of the reaction force is transmitted to the rear waist of the human body along with the force-bearing belt, and the other component is transmitted to the heel part and acts on the ankle joint of the human body to form the auxiliary moment; until the pre-swing phase, the ankle joint is plantar Qu Shi, the stress belt is shortened rapidly, and the elastic potential energy of thigh muscles is released;

specifically, in the above process, the soft suit helps the ankle joint of the wearer to do negative work, absorbs the energy together with the thigh spring, and returns to assist the plantar flexion movement of the ankle joint, so that the consumption of metabolic energy in the movement process of people is effectively reduced.

As a further improvement of the scheme, the upper section and the lower section of the stress belt are respectively sewed on the soft suit and are arranged in close fit with the muscles of the legs along with the soft suit; on the projection of the sagittal plane of the human body, the middle section of the stress belt passes through the center point of the side surface of the knee joint of the human body, when the human body is in a standing state, the middle section of the stress belt is attached to the side surface muscle of the knee joint of the human body, and when the knee joint of the human body is in a bending action, the middle section of the stress belt is in a loose state.

As a further improvement of the above, the soft suit is integrally shaped like a pair of stretch pants and does not contain any rigid member, and the waistband portion, thigh webbing portion and heel portion are sequentially sewn on one side of the pair of stretch pants;

it should be noted that, the traditional exoskeleton is provided with elements such as metal springs, which prevents the power assisting performance from being reflected, and has a certain influence on wearing comfort; furthermore, the soft suit is integrally shaped like an elastic trousers, does not contain any rigid member, takes wearing comfort of a wearer as guiding, effectively eliminates resistance of exoskeleton to human body in the human body movement process, ensures that the kinematic change of the human body in the gait process is smaller, does not interfere lower limb movement, and is more widely applicable to groups.

As a further improvement of the scheme, the waistband part is of an annular structure and comprises a rear waistline arranged at the rear half circle of the waist and a front waistline arranged at the front half circle of the waist, wherein the rear waistline is made of a non-stretchable flexible material, the front waistline is made of an elastic telescopic belt, and a tightening mechanism is further arranged at the front waistline and used for tightening the telescopic belt to tie the soft garment on the hip joint of the human body.

As a further improvement of the scheme, the tightening mechanism comprises a first binding belt and a second binding belt which are respectively arranged at two sides of the waist of the human body, and the first binding belt and the second binding belt are fixed by magic tape, magnetic attraction or snap fit; or alternatively, the first and second heat exchangers may be,

the tightening mechanism comprises a first binding rope and a second binding rope which are respectively arranged at two sides of the waist of the human body, and the first binding rope and the second binding rope are mutually knotted and fixed.

As a further improvement of the scheme, two sides of the waistband part extend from the front sides of the two oblique legs at the back waist of the human body and respectively form connection with the first intersection nodes by an adjustable distance, and on the sagittal plane projection of the human body, the extending part of the waistband part extending from the front sides of the oblique thighs intersects with the connecting line of the two intersection nodes to form an included angle alpha, which is more than or equal to 95 degrees and less than or equal to 175 degrees;

the waistband part and the heel part are respectively connected with the upper end and the lower end of the thigh webbing part and are used for transmitting the acting force of the thigh webbing part to the joint surface of the personal wear of the rear waist and the heel. Both of these sites are relatively thin in elastic tissue, and the joint surfaces are designed to be stressed rather than shear, ensuring adequate series stiffness and comfort for the individual. Meanwhile, in order to prevent the tension force on the thigh webbing from forming moment on the knee joint, the interference on the movement of the knee joint is avoided, the included angle between the thigh webbing and the extension part of the waistband part is intentionally set to be a large obtuse angle, the compression of the combined force of the tension forces on two sides on the thigh is reduced, and the external influence of passive flexible wearing apparel on the hip joint is greatly reduced.

As a further improvement of the scheme, a stress adjusting mechanism is arranged between the part of the waistband part extending obliquely to the front side of the thigh and the first crossing node and is used for adjusting the distance and the angle between the first crossing node and the second half circle of the waistband part;

in order to expand the crowd application scope of passive flexible wearing clothes, further, a stress adjusting mechanism is arranged to adapt to the wearing requirements of wearers with different statures, so that the passive flexible wearing clothes are more suitable for long-time wearing, and the application prospect is quite remarkable.

As a further improvement of the scheme, a force adjusting mechanism is arranged between the second cross joint and the heel part, the force adjusting mechanism comprises a Chinese character 'ri' shaped buckle and a ratchet wheel tensioner, one end of the ratchet wheel tensioner is connected with the stress belt through the Chinese character 'ri' shaped buckle, and the other end of the ratchet wheel tensioner is connected with the heel part through a flexible element in an adjustable interval manner;

it should be noted that, if the effect of reducing the physical energy consumption is better, the acting force provided by the force-bearing belt is correspondingly increased, so that the discomfort caused by tightening is more serious and the comfort is worse; further, in order to effectively adjust the pretightening force provided by the stress belt when the person is in a standing state, the ratchet tensioner is arranged for tensioning and adjusting, so that the wearing experience of a wearer can be greatly improved.

The heel part is a foot sleeve, the foot sleeve is wrapped on an ankle joint of a human body, the upper part of the foot sleeve extends along the rear side of a lower leg and is connected with the flexible element, and the stress belt acts on the foot sleeve to apply an auxiliary moment for the rotation of the ankle joint; the foot cover adopting the flexible structure can greatly improve the wearing comfort of passive flexible wearing apparel, and the wearing is independent, and other mediums such as shoes are not required to be matched, so that the structure is light and convenient.

Or the heel part is a heel buckle, the heel buckle is sleeved and fixed with the shoe, an lengthened force arm extends along the position deviating from the heel, the heel buckle is connected with the flexible element through the lengthened force arm, and the stress belt acts on the heel buckle to apply an auxiliary torque for the rotation of the ankle joint;

in order to better improve the auxiliary performance, the lengthened force arm is further arranged at the ankle joint, so that the auxiliary performance is multiplied by more than 2 under the condition of the same power assisting size, and the effect is obvious.

As a further improvement of the scheme, the number of the stress belts on each thigh webbing part is two, and the two stress belts are respectively connected in a straight line from two sides of the leg part between two crossed nodes to form a natural extension angle range beta which is more than or equal to 30 degrees and less than or equal to 40 degrees.

As a further improvement of the scheme, a plurality of branch belts are connected between every two stress belts on each thigh belt part.

As a further improvement of the scheme, the stress belt is a nylon belt, a binding belt, a metal wire or a composite material woven belt.

The passive flexible sports protective clothing based on muscle energy storage is applied with the passive flexible wearing clothing based on muscle energy storage, a plurality of data acquisition modules are arranged on the soft clothing, each data acquisition module is respectively arranged on each part of a human body of a wearer or is arranged independently of the soft clothing, and is used for acquiring movement state data or metabolism state data of the wearer and feeding back to an upper computer for display;

it should be noted that the assistance torque provided by the athletic suit has a significant impact on the performance of reducing the metabolic energy consumption of the wearer. However, due to the three-dimensional topology of the thigh webbing sections and the complexity of the thigh muscle elastic potential energy, it is difficult to calculate the stiffness of the soft suit and its assist moment profile to the ankle joint. Further, a plurality of data acquisition modules are arranged to acquire the movement state data of the wearer, and the auxiliary moment is correspondingly adjusted according to the acquired movement state data, so that the physical energy consumption of a human body during walking is effectively reduced.

As a further improvement of the above, the data acquisition module comprises a pressure sensor, an indirect calorimetric device and an IMU module,

the pressure sensor is arranged between the second cross node and the heel part and is used for collecting pre-tightening force data received by the stress belt when the wearer is in a standing state;

the indirect calorimetric device is used for measuring O of respiration of a wearer while walking ₂ Flow and CO ₂ Calculating the total metabolism rate of the wearer according to the measured data through a Brockway formula, and subtracting the metabolism rate measured during static standing to obtain the net metabolism rate of the wearer;

the IMU module is used for dividing the gait cycle of a wearer, outputting time sequence related signals of the gait cycle, and dividing and standardizing the time period between every two residence points into 0-100% gait cycle.

As a further improvement of the above solution, the data acquisition module further comprises a kinematic data acquisition unit, the kinematic data acquisition unit comprising four sets of marker points, each set of marker points being mounted on the pelvis, one thigh, one calf and one foot, respectively, each set of marker points comprising at least three non-collinear marker points;

the system also comprises a motion capture system, wherein the motion capture system is used for monitoring the positions of the marking points and solving the motion angles of all joints of the lower limb through an inverse kinematics algorithm.

The invention has the beneficial effects that:

(1) Based on a mechanism of muscle energy storage, the auxiliary walking is realized under the condition of no external energy source, the passive exoskeleton is abstracted into a waistband part, a thigh webbing part and a heel part through the design of flexible wearing apparel, and the passive exoskeleton is connected with the wearing apparel and the sports protective clothing in parallel, so that the weight reduction of the wearing structure is realized, and the comfort during wearing is ensured; during walking, the swing of the lower limbs of the human body can drag the stretching of the force transmission path, so that thigh muscles are clamped and form elasticity, thereby forming upward assistance at the ankle joint to help the human body to pedal the foot off the ground, and effectively reducing the physical energy consumption during the walking of the human body;

(2) Compared with a rigid exoskeleton, the fabric structure of the flexible wearing apparel and the sports protective clothing thereof avoids the problem that the rigid frame and the biological joints need to be accurately aligned, effectively eliminates the resistance of the exoskeleton to the human body in the human body movement process, ensures that the kinematic change of the human body in the gait process is smaller, and does not interfere the lower limb movement; in addition, the physiological requirement of the flexible wearing apparel on a wearer is low, the flexible wearing apparel is not required to be customized for different individuals, the applicable group is wide, and the flexible wearing apparel is also more suitable for long-time wearing due to the light characteristic of the flexible wearing apparel, so that the application prospect is quite remarkable.

Drawings

Fig. 1 is a schematic structural view of embodiment 1 of the present invention;

FIG. 2 is a schematic view of the wearer of example 1 of the invention in a standing position;

fig. 3 is a schematic structural view of a thigh webbing portion of embodiment 1 of the present invention;

FIG. 4 is a front view of embodiment 1 of the present invention;

FIG. 5 is a side view of embodiment 1 of the present invention;

fig. 6 is a rear view of embodiment 1 of the present invention;

FIG. 7 is a schematic view showing the structure of a boot according to embodiment 1 of the present invention;

FIG. 8 is a schematic representation of the relationship between the gait cycle of the wearer and the assist moment of example 1 of the present invention;

FIG. 9 is a schematic illustration of the connection of the heel clip to the force adjustment mechanism of embodiment 3 of the present invention;

fig. 10 is a schematic structural view of a heel clip according to embodiment 3 of the present invention;

fig. 11 is a schematic structural view of a thigh webbing portion of embodiment 4 of the present invention;

reference numerals:

j1, a first cross node; j2, a second cross node;

1. a waistband part; 11. a tightening mechanism; 12. a stress adjusting mechanism;

2. thigh webbing portions; 21. a force-bearing belt; 22. a branching belt;

3. a heel portion; 31. a force adjusting mechanism; 311. a ratchet tensioner; 312. a flexible element; 32. a foot cover; 33. heel button; 331. lengthening the arm of force;

4. soft clothing.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Example 1

As shown in fig. 1, 4-6, a passive flexible wearable garment based on muscle energy storage includes a soft suit 4, and a waistband portion 1, a thigh strap portion 2 and a heel portion 3 coupled to the soft suit 4,

the thigh webbing part 2 comprises a first cross joint J1 arranged on the thigh muscle front side soft suit 4 and a second cross joint J2 arranged on the shank muscle rear side soft suit 4, and at least two stress belts 21 are connected between the two cross joints in a linear manner along the two sides of the leg;

each stress belt 21 spans the knee joint of a human body and takes the shape of wrapping thigh muscles, and the stress belts 21 are made of inextensible flexible materials; specifically, the force strap 21 is a nylon strap, a binding strap, a metal wire or a composite material webbing, and in this embodiment, the force strap 21 is preferably a nylon strap.

The waistband part 1 is bound on the hip joint of the human body and is connected with the first crossing joint J1;

in this embodiment, the waistband portion 1 has a ring-shaped structure, and includes a rear waist line disposed in the rear half-turn of the waist and a front waist line disposed in the front half-turn of the waist, where the rear waist line is made of a non-stretchable flexible material, and in this embodiment, nylon belts are preferably used.

The front waist line is an elastic telescopic belt, and a tightening mechanism 11 is further arranged at the front waist line and used for tightening the telescopic belt to tie the soft suit 4 on the hip joint of the human body.

In this embodiment, the tightening mechanism 11 includes a first binding band and a second binding band that are separately disposed at two sides of the waist of the human body, and the first binding band and the second binding band are fixed by a velcro, a magnetic attraction or a snap fit; or, the tightening mechanism 11 comprises a first binding rope and a second binding rope which are respectively arranged at two sides of the waist of the human body, and the first binding rope and the second binding rope are mutually knotted and fixed.

As shown in fig. 7, the heel part 3 is disposed at the junction of the shank and the sole of the foot, and is connected to the second crossing point J2; the heel part 3 is a foot cover 32, the foot cover 32 is wrapped on the ankle joint of a human body, the upper part of the foot cover 32 extends along the rear side of the lower leg and is connected with the flexible element 312, and the stress belt 21 applies auxiliary moment to the rotation of the ankle joint by acting on the foot cover 32; the foot cover 32 adopting the flexible structure can greatly improve the wearing comfort of passive flexible wearing apparel, is independent to wear, does not need other mediums such as shoes to adapt, and has a light and simple structure.

The technical term of physiological structures of lower limbs of human bodies is introduced, and a sagittal plane (sagittal plane) passes through the center of the body (the center line of navel, vertebra and the like) and is an important solution section for dividing the left and right. The coronal plane (front plane) passes through both ears and is a plane that divides the body into ventral and dorsal sides (abdomen and back). A horizontal plane (also called a transverse plane) which is orthogonal to the coronal and sagittal planes, dividing the body into upper and lower parts.

Specifically, the upper and lower sections of the stress belt 21 are respectively sewn on the soft suit 4, and are arranged in close fit with the muscles of the legs along with the soft suit 4; on the projection of the sagittal plane of the human body, the middle section of the stress belt 21 passes through the center point of the side face of the knee joint of the human body, when the human body is in a standing state, the middle section of the stress belt 21 is attached to the side muscle of the knee joint of the human body, and when the knee joint of the human body is in a bending action, the middle section of the stress belt 21 is in a loose state.

As shown in fig. 2, in this embodiment, two sides of the waistband part 1 extend from the front sides of two oblique legs at the back waist of the human body, respectively form a connection with a first intersection joint J1 with an adjustable distance, and on the sagittal plane projection of the human body, the extending part of the waistband part 1 extending from the front sides of the oblique thighs intersects with the connecting line of the two intersection joints to form an included angle α, which is 95 ° - α -175 °; in this embodiment, the included angle α may be 100 °, 115 °, 130 °, 145 °, 160 °, or 175 °.

The waist belt portion 1 and the heel portion 3 are connected to the upper and lower ends of the thigh strap portion 2, respectively, for transmitting the force of the thigh strap portion 2 to the garment engaging surface of the rear waist and heel. Both of these sites are relatively thin in elastic tissue, and the joint surfaces are designed to be stressed rather than shear, ensuring adequate series stiffness and comfort for the individual. Meanwhile, in order to prevent the tension force on the thigh webbing part 2 from forming moment on the knee joint, the interference on the movement of the knee joint is avoided, the included angle between the thigh webbing part 2 and the extension part of the waistband part 1 is intentionally set to be a large obtuse angle, the compression of the combined force of the tension forces on two sides on the thigh is reduced, and the external influence of passive flexible wearing apparel on the hip joint is greatly reduced.

As shown in fig. 3, in the present embodiment, the number of the force-bearing belts 21 on each thigh webbing portion 2 is two, and the two force-bearing belts 21 are respectively connected in a straight line from both sides of the leg portion between two intersecting nodes, so as to form a natural extension angle range β, which is 30 ° or more and 40 ° or less;

it should be noted that the passive flexible wearing apparel is mainly based on the principle of muscle energy storage, regards thigh muscle tissue of a human body as an elastic unit, and utilizes the rigidity property of the elastic unit to clamp thigh muscle through two stress belts 21 which are connected in a straight line from two sides of a leg, so as to store elastic potential energy, thereby generating an auxiliary moment. Further, the extension angles formed by the two stress belts 21 are different, the provided thigh muscle clamping forces are different, the reasonable extension included angles are configured, the balance between wearing comfort and boosting performance can be effectively achieved, and the wearing experience of a wearer is improved.

In the preferred embodiment, a stress adjusting mechanism is arranged between the part of the waistband part 1 extending obliquely to the front side of the thigh and the first crossing joint J1, and is used for adjusting the distance and the angle between the first crossing joint J1 and the second half circle of the waistband part 1; in order to expand the application range of the passive flexible wearing apparel, further, a stress adjusting mechanism is arranged to adapt to the wearing requirements of wearers with different statures, so that the passive flexible wearing apparel is more suitable for long-time wearing, and has quite obvious application prospect; specifically, the stress adjustment mechanism preferably selects a Chinese character 'ri' shaped buckle, the extending parts of the waistband part 1 and the thigh webbing part 2 are respectively connected with the Chinese character 'ri' shaped buckle, and the distance and the angle adjustment of the first cross joint J1 and the second half circle of the waistband part 1 are realized by adjusting the length of the connecting part of the Chinese character 'ri' shaped buckle, so that the figure and the body shape of a wearer are adapted.

In a preferred embodiment, a force adjusting mechanism 31 is further disposed between the second intersection J2 and the heel portion 3, the force adjusting mechanism 31 includes a Chinese character 'ri' shaped buckle and a ratchet wheel tensioner 311, one end of the ratchet wheel tensioner 311 is connected to the force strap 21 through the Chinese character 'ri' shaped buckle, and the other end is connected to the heel portion 3 through a flexible element 312 with an adjustable distance; it should be noted that, if the effect of reducing the physical energy consumption is better, the acting force provided by the force-bearing belt 21 is correspondingly increased, the more uncomfortable the tightening feel is, the worse the comfort is; further, in order to effectively adjust the pretightening force provided by the stress belt 21 when the person is in a standing state, the ratchet tensioner 311 is arranged to perform tensioning adjustment, so that the wearing experience of the wearer can be greatly improved.

Through the above technical scheme, in specific application, when the wearer is in a standing state, centrifugal stretching is carried out between two crossed nodes of the thigh webbing part 2 along the surface of the leg part, thigh muscles are clamped and forced by the stress belt 21, the thigh muscles and the soft wear 4 store elastic potential energy together, an upward auxiliary moment is applied to the ankle joint, and when the lower limb of the human body swings in advance, the stress belt 21 is shortened rapidly, and the elastic potential energy of the thigh muscles and the soft wear 4 is released. In the embodiment, through the design of flexible wearing apparel, the passive exoskeleton is abstracted into the waistband part 1, the thigh webbing part 2 and the heel part 3, and is connected with the wearing apparel and the sports protective clothing by stitching, so that the weight of the wearing structure is reduced, and the comfort during wearing is ensured; in walking, the swing of the lower limbs of the human body can drag the stretching of the force transmission path, so that thigh muscles are clamped and form elasticity, thereby forming upward assistance at the ankle joint to help the human body to pedal the foot off the ground, and effectively reducing the physical energy consumption of the human body in walking.

As shown in fig. 8, in particular, at the beginning of the stance phase (approximately 10% gait cycle), the hip joint of the wearer stretches and the ankle joint flexes while the knee joint remains fully straightened; the thigh webbing 2 is continuously and centrifugally elongated along with the movement of the lower limb, the force-receiving strap 21 presses thigh muscles and is fed back with a reaction force directed near the hip joint of the human body, one component of the reaction force is transmitted to the rear waist of the human body along with the force-receiving strap 21, and the other component is transmitted to the heel portion 3 and acts on the ankle joint of the human body to form the assist moment; until the pre-swing phase, ankle plantar Qu Shi, the force strap 21 shortens rapidly and the elastic potential energy of thigh muscle is released;

specifically, in the above process, the soft suit 4 helps the ankle joint of the wearer to do negative work, absorbs the energy together with the thigh spring, and returns to assist the plantar flexion of the ankle joint, so that the consumption of metabolic energy in the exercise process of people is effectively reduced.

In this embodiment, a passive flexible sports protective garment based on muscle energy storage is further provided, and the passive flexible wearing garment based on muscle energy storage is applied, wherein a plurality of data acquisition modules are arranged on the soft garment 4, each data acquisition module is respectively arranged at each part of a human body of a wearer, or is independent of the soft garment 4, and is used for acquiring the movement state data or metabolic state data of the wearer and feeding back to an upper computer for displaying;

it should be noted that the assistance torque provided by the athletic suit has a significant impact on the performance of reducing the metabolic energy consumption of the wearer. However, due to the three-dimensional topology of the thigh webbing portion 2 and the complexity of the thigh muscle elastic potential energy, it is difficult to calculate the stiffness of the soft suit 4 and its assist moment profile to the ankle joint. Further, a plurality of data acquisition modules are arranged to acquire the movement state data of the wearer, and the auxiliary moment is correspondingly adjusted according to the acquired movement state data, so that the physical energy consumption of a human body during walking is effectively reduced.

In this embodiment, the data acquisition module includes a pressure sensor, an indirect heat measurement device, and an IMU (Inertial measurement unit, i.e., inertial measurement unit) module, where the pressure sensor is disposed between the second crossover node J2 and the heel portion 3, and is configured to acquire pretension data applied to the force strap 21 when the wearer is in a standing state; the indirect calorimetric device is used for measuring O of respiration of a wearer while walking ₂ Flow and CO ₂ Flow, measured data calculate the wearer's total metabolic rate by calculating metabolic rate using the modified blociclovir equation (Brockway Equation), subtracting staticThe metabolic rate measured while standing gives the net metabolic rate of the wearer;

the IMU module is used for dividing the gait cycle of a wearer and outputting a time sequence related signal of the gait cycle, the IMU module is arranged on the dorsum of the foot, one axis of the IMU module is parallel to the axis of the ankle joint, when the heel of the wearer lands on the front and back of the foot, the change of the included angle between the foot and the ground is just reverse, the change is reflected to one peak value parallel to the axis reading of the ankle joint, and the time period between every two resident points is divided and standardized to be 0-100% of the gait cycle.

In this embodiment, the data acquisition module further includes a kinematic data acquisition unit including four sets of marker points, each set of marker points being mounted on the pelvis, one thigh, one calf and one foot, respectively, each set of marker points including at least three non-collinear marker points; the system also comprises a motion capture system, wherein the motion capture system is used for monitoring the positions of the marking points and solving the motion angles of all joints of the lower limb through an inverse kinematics algorithm.

In order to further verify the effects of assisting the passive flexible wearing apparel and the sports protective clothing thereof and reducing the loss of human bodies, the embodiment tests the sports physiological data of the wearer, specifically:

multiple male subjects were recruited to evaluate the performance of flexible wear apparel and athletic protective apparel. They are healthy individuals without any walking dysfunction.

Specifically, each subject's experiment was performed in two days, with the first day being the training portion to adapt the subject to the flexible wear apparel and its athletic protective clothing and experimental equipment; the next day is the test portion to collect the movement state data of the subject. Considering that the subject needs to recover from fatigue from the training trial, two days apart are between two days.

On the day of the experiment, subjects were first asked to conduct a 5 minute standing experiment to test their own metabolic rate. They then wear a fully relaxed athletic suit to walk on the treadmill at a speed of 1.25m/s for 10 minutes to warm up. The subjects then completed five separate 6 minute 1.25m/s walk experiments. In the first and last round of experiments, the sports suit was in the same state as in the warm-up experiments, i.e. the sports suit was not activated to allow the subjects to walk as usual. This set of experiments was considered as an empty control in the subsequent analysis. This round of experiment was taken as a no-exercise coverall experimental control group for baseline comparison.

In the next three trials, subjects walked under 10N,30N and 50N pre-tension, respectively, of the athletic protective clothing. The order of the preload conditions is random to avoid errors in the order effect. There was a 6 minute rest time between each round of walking experiments. The subject may then be required to stand statically during which the pretension of the athletic suit is adjusted to the next experimental condition based on the pressure sensor readings.

At the beginning of each round of walking experiments, the sports wear will be adjusted to the corresponding pre-tightening conditions. Subjects were asked to stand naturally and to visualize a target placed at about their head, during which the position of their feet was recorded. When each subsequent adjustment is to be performed, the subjects repeat this step and match their foot position with the recorded position and repeat the above-described stance. While maintaining this position, the connection of the calf to the foot root is tightened or loosened to achieve the desired preload. The real-time reading of the pressure sensor is displayed through the upper computer, so that guidance is provided for the test experiment. The three pretensioning conditions are for a person weighing 60kg, and the actual pretensioning force will be changed proportionally to the weight of the subject.

According to the analysis of the experimental results, the sports protective clothing can reduce the physical energy consumption of about 6% -10% when a wearer walks, can provide auxiliary torque of more than 9-15 kg for the ankle joint at the highest, is due to the fabric structure of the flexible wearing clothing and the sports protective clothing, and compared with the rigid exoskeleton, the problem that the rigid frame and the biological joint need to be accurately aligned is avoided, the resistance of the exoskeleton to the human body in the human body movement process is effectively eliminated, so that the kinematic change of the human body in the gait process is smaller, and the interference to the lower limb movement is avoided. In walking, the swing of the lower limbs of the human body can drag the stretching of the force transmission path, so that thigh muscles are clamped and form elasticity, thereby forming upward assistance at the ankle joint to help the human body to pedal the foot off the ground, and effectively reducing the physical energy consumption of the human body in walking.

Example 2

In one embodiment of the present invention, the main technical solution of this embodiment is the same as that of embodiment 1, and features that are not explained in this embodiment are explained in embodiment 1, and are not described here again. This embodiment differs from embodiment 1 in that:

in this embodiment, the soft suit 4 is shaped like an elastic pants as a whole, and does not include any rigid member, and the waistband part 1, the thigh strap part 2 and the heel part 3 are sequentially sewn on one side of the elastic pants, specifically, can be sewn on the inner side or the outer side of the elastic pants. It should be noted that, the traditional exoskeleton is provided with elements such as metal springs, which prevents the power assisting performance from being reflected, and has a certain influence on wearing comfort; furthermore, the soft suit 4 is integrally shaped like an elastic trousers, does not contain any rigid member, takes wearing comfort of a wearer as a guide, effectively eliminates resistance of exoskeleton to human body in the human body movement process, ensures that the kinematic change of the human body in the gait process is smaller, does not interfere lower limb movement, and is more widely applicable to groups.

Example 3

In one embodiment of the present invention, the main technical solution of this embodiment is the same as that of embodiment 1, and features that are not explained in this embodiment are explained in embodiment 1, and are not described here again. This embodiment differs from embodiment 1 in that:

as shown in fig. 9 and 10, in this embodiment, the heel part 3 is a heel buckle 33, the heel buckle 33 is sleeved and fixed with the shoe, an elongated arm 331 extends along the heel buckle 33 away from the heel, the heel buckle 33 is connected with the flexible element 312 through the elongated arm 331, and the force strap 21 applies an auxiliary moment to the rotation of the ankle joint by acting on the heel buckle 33; in particular, the flexible element 312 is preferably a wire rope. In order to better improve the auxiliary performance, the lengthened force arm 331 is further arranged at the ankle joint, so that the auxiliary performance is multiplied by more than 2 under the condition of the same power assisting magnitude, and the effect is remarkable.

Example 4

In one embodiment of the present invention, the main technical solution of this embodiment is the same as that of embodiment 1, and features that are not explained in this embodiment are explained in embodiment 1, and are not described here again. This embodiment differs from embodiment 1 in that:

as shown in fig. 11, in the present embodiment, a plurality of branch belts 22 are connected between the tension belts 21 of each thigh webbing portion 2. Specifically, the two force-bearing belts 21 are arranged at the position close to the knee joint, the two force-bearing belts 21 and the two force-bearing belts 22 are arranged in an A-shaped structure on the projection of the coronal plane of the human body, and the transversely arranged force-bearing belts 22 and the two force-bearing belts 21 are used for clamping thigh muscles together to form elasticity, so that better auxiliary torque is provided at the ankle joint, and the energy consumption reduction effect is better.

Example 5

In one embodiment of the present invention, the main technical solution of this embodiment is the same as that of embodiment 1, and features that are not explained in this embodiment are explained in embodiment 1, and are not described here again. This embodiment differs from embodiment 1 in that:

in this embodiment, the force-bearing belts 21 have 4 or 6 force-bearing belts 21 respectively span the knee joint of the human body, take the shape of clamping thigh muscles, and the force-bearing belts 21 clamp thigh muscles together to form elastic force, so that better auxiliary torque is provided at the ankle joint, and the effect of reducing energy consumption is better.

Variations and modifications to the above would be obvious to persons skilled in the art to which the invention pertains from the foregoing description and teachings. Therefore, the invention is not limited to the specific embodiments disclosed and described above, but some modifications and changes of the invention should be also included in the scope of the claims of the invention. In addition, although specific terms are used in the present specification, these terms are for convenience of description only and do not limit the present invention in any way.

Claims (15)

1. The passive flexible wearing apparel based on muscle energy storage comprises a soft suit, and a waistband part, a thigh webbing part and a heel part which are connected with the soft suit, and is characterized in that,

the thigh webbing part comprises a first cross node arranged on the thigh muscle front side soft suit and a second cross node arranged on the calf muscle rear side soft suit, at least two stress belts are connected between the two cross nodes in a linear manner along the two sides of the leg, each stress belt spans the knee joint of a human body, takes the shape of clamping thigh muscle by a bag, and adopts a non-stretchable flexible material; the waistband part is bound on the hip joint of the human body and is connected with the first cross joint, and the heel part is arranged at the joint of the shank and the sole of the human body and is connected with the second cross joint;

when in a standing state, two crossed nodes of the thigh webbing part are centrifugally stretched along the surfaces of the legs, thigh muscles are clamped and forced by the stress belt, the thigh muscles store elastic potential energy together with the soft suit, an upward auxiliary moment is applied to the ankle joint, and when the lower limb of a human body swings in advance, the stress belt is quickly shortened, and the elastic potential energy of the thigh muscles and the soft suit is released.

2. The passive flexible wear garment based on muscle energy storage of claim 1, wherein at the beginning of the stance phase, the hip of the wearer stretches and the ankle flexes while the knee remains fully straightened; the thigh webbing part is continuously and centrifugally elongated along with the movement of the lower limb, the force-bearing belt presses thigh muscles and is fed back with a reaction force which is directed near the hip joint of the human body, one component of the reaction force is transmitted to the rear waist of the human body along with the force-bearing belt, and the other component is transmitted to the heel part and acts on the ankle joint of the human body to form the auxiliary moment; until the pre-swing phase, the ankle joint plantar Qu Shi, the force strap is shortened rapidly and the elastic potential energy of the thigh muscle is released.

3. The passive flexible wearable garment based on muscle energy storage of claim 1, wherein the upper and lower sections of the force strap are respectively sewn on the soft garment and are arranged in close fit with the leg muscles along with the soft garment; on the projection of the sagittal plane of the human body, the middle section of the stress belt passes through the center point of the side surface of the knee joint of the human body, when the human body is in a standing state, the middle section of the stress belt is attached to the side surface muscle of the knee joint of the human body, and when the knee joint of the human body is in a bending action, the middle section of the stress belt is in a loose state.

4. The passive flexible wear garment based on muscle energy storage of claim 1, wherein the soft garment is integrally shaped like a pair of stretch pants and is devoid of any rigid member, the waistband portion, thigh webbing portion and heel portion being stitched in sequence to one side of the stretch pants.

5. The passive flexible wearing apparel based on muscle energy storage as claimed in claim 1, wherein the waistband part is of a ring structure and comprises a rear waist line arranged on the rear half circle of the waist and a front waist line arranged on the front half circle of the waist, wherein the rear waist line is made of a non-stretchable flexible material, the front waist line is made of an elastic telescopic belt, and a tightening mechanism is further arranged at the front waist line and used for tightening the telescopic belt to tie the soft apparel on the hip joint of the human body.

6. The passive flexible wearable garment based on muscle energy storage of claim 5, wherein the tightening mechanism comprises a first binding band and a second binding band which are respectively arranged at two sides of the waist of the human body, and the first binding band and the second binding band are fixed by a magic tape, a magnetic attraction or a snap fit; or alternatively, the first and second heat exchangers may be,

the tightening mechanism comprises a first binding rope and a second binding rope which are respectively arranged at two sides of the waist of the human body, and the first binding rope and the second binding rope are mutually knotted and fixed.

7. The passive flexible wearing apparel based on muscle energy storage according to claim 1 or 6, wherein two sides of the waistband part extend from the back waist of the human body to the front sides of the two legs in an inclined way, and form a connection with the first crossing node in an adjustable distance, and on the sagittal plane projection of the human body, the part of the waistband part extending from the front side of the thigh in an inclined way intersects with the connecting line of the two crossing nodes to form an included angle alpha, which is more than or equal to 95 degrees and less than or equal to 175 degrees.

8. The passive flexible wearing apparel based on muscle energy storage as set forth in claim 7, wherein a stress adjusting mechanism is provided between a portion of the waistband portion extending obliquely to the front side of the thigh and the first crossing point for adjusting the distance and angle between the first crossing point and the second half turn of the waistband portion.

9. The passive flexible wearable garment based on muscle energy storage of claim 1, wherein a force adjusting mechanism is arranged between the second cross node and the heel part, the force adjusting mechanism comprises a Chinese character 'ri' shaped buckle and a ratchet wheel tensioner, one end of the ratchet wheel tensioner is connected with the force-bearing belt through the Chinese character 'ri' shaped buckle, and the other end of the ratchet wheel tensioner is connected with the heel part through a flexible element in an adjustable interval manner;

the heel part is a foot sleeve, the foot sleeve is wrapped on an ankle joint of a human body, the upper part of the foot sleeve extends along the rear side of a lower leg and is connected with the flexible element, and the stress belt acts on the foot sleeve to apply an auxiliary moment for the rotation of the ankle joint; or alternatively, the first and second heat exchangers may be,

the heel part is a heel knot, the heel knot is fixed with the shoes cover, the heel knot is followed and is kept away from heel department extension and is had a extension arm of force, and the heel knot passes through the extension arm of force with flexible component links to each other, and the atress band-pass is detained on the heel, exerts auxiliary torque for ankle joint's rotation.

10. The passive flexible wearing apparel based on muscle energy storage as claimed in claim 1, wherein the number of the stress belts on each thigh webbing part is two, and the two stress belts are respectively connected in a straight line from two sides of the leg part between two crossing nodes to form a natural extension angle range beta which is more than or equal to 30 degrees and less than or equal to 40 degrees.

11. The passive flexible wearable garment based on muscle energy storage according to claim 1 or 10, wherein a plurality of branch straps are connected between every two stress straps on each thigh strap part.

12. The passive flexible wearable garment based on muscle energy storage of claim 1, wherein the force strap is a nylon strap, a wire, or a composite webbing.

13. The passive flexible sports wear based on muscle energy storage, which is applied with the passive flexible wear based on muscle energy storage as claimed in any one of claims 1-12, is characterized in that a plurality of data acquisition modules are arranged on the soft wear, each data acquisition module is respectively arranged on each part of a human body of a wearer or is independent of the soft wear, and is used for acquiring movement state data or metabolism state data of the wearer and feeding back to an upper computer for displaying.

14. The passive flexible athletic suit of claim 13, wherein the data collection module comprises a pressure sensor, an indirect calorimetric device, and an IMU module,

the pressure sensor is arranged between the second cross node and the heel part and is used for collecting pre-tightening force data received by the stress belt when the wearer is in a standing state;

the indirect calorimetric device is used for measuring O of respiration of a wearer while walking ₂ Flow and CO ₂ Calculating the total metabolism rate of the wearer according to the measured data through a Brockway formula, and subtracting the metabolism rate measured during static standing to obtain the net metabolism rate of the wearer;

the IMU module is used for dividing the gait cycle of a wearer, outputting time sequence related signals of the gait cycle, and dividing and standardizing the time period between every two residence points into 0-100% gait cycle.

15. The passive flexible athletic garment of claim 14, wherein the data acquisition module further comprises a kinematic data acquisition unit comprising four sets of marker points, each set of marker points being mounted on the pelvis, one thigh, one calf and one foot, respectively, each set of marker points containing at least three non-collinear marker points;

the system also comprises a motion capture system, wherein the motion capture system is used for monitoring the positions of the marking points and solving the motion angles of all joints of the lower limb through an inverse kinematics algorithm.

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