CN1586440A - Two feet walking artificial limb - Google Patents
Two feet walking artificial limb Download PDFInfo
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- CN1586440A CN1586440A CNA2004100665919A CN200410066591A CN1586440A CN 1586440 A CN1586440 A CN 1586440A CN A2004100665919 A CNA2004100665919 A CN A2004100665919A CN 200410066591 A CN200410066591 A CN 200410066591A CN 1586440 A CN1586440 A CN 1586440A
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- knee
- artificial limb
- seat
- control panel
- feet walking
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Abstract
The two feet walking artificial limbs as one kind of medical rehabilitating equipment includes control panel, chair, vibration damper, hip, accumulator, controller, thigh, knee, calf, heel knee and foot. The present invention has control panel fixed on the arm rest, accumulator in the back, controller inside the chair, vibration damper connected to the lower part of the chair, hip with three joints to connect the chair and the thighs, knee with one joint to connect thigh and calf, heel knee to connect calf and foot, DC motors and reducers in the joints. The present invention has accumulator as driving power source, and control panel with monochip computer and controller to control the motors. The present invention makes it possible for the disabled person to walk on ground and in stairs like health person.
Description
Technical field
The present invention relates to a kind of artificial limb, specifically is a kind of double feet walking artificial limb.Be used for the medical rehabilitation instrument field.
Background technology
The deformity of limbs brings a lot of difficulties for their life, makes them handicapped, can only be with wheelchair as walking-replacing tool in the time of most.Though still there are many weak points in wealthy to a certain extent wide people with disability's the range of activity of the appearance of wheelchair.Though adopted driven by power on the advanced wheelchair, alleviated the consumption on the muscle power to a certain extent, do not change the weak point of traditional push chairs from basic structure.
At present, domestic do not have as yet similarly can double feet walking the artificial limb patent.According to data-searching, Patent Office has announced the patent of aspects such as some electric wheelchairs, walking robot, only relates to the part correlation technology of double feet walking artificial limb.
Find application number: 01140292.X, denomination of invention: the electronic wheelchair of riding instead of walk that do not hinder by literature search.Its improvements of this patent are that " be packed in and be provided with the back elevating lever in the rear support stand on the vehicle frame, the lower end of back elevating lever connects lifter plate, and sprocket wheel and rear walking wheel are housed on the lifter plate." because this car is provided with the running gear of energy stair activity and across obstacle; so user is under unmanned situation about helping; also can finish the motion of stair activity and across obstacle separately, improve the self care ability of user, solve residual sick the old and the weak's accessible motion.But should invention design complexity, volume is bigger, does not fundamentally change the wheeled construction of wheelchair.
Summary of the invention
The present invention is directed to above shortcomings and defective in the prior art, a kind of double feet walking artificial limb is provided, it is reached replace existing traditional wheeled wheelchair, the purpose that makes things convenient for the people with disability to go on a journey to a greater extent.
The present invention is achieved by the following technical solutions, the present invention includes: control panel, seat, shock-absorbing equipment, hip, accumulator, controller, thigh, knee, shank, ankle, foot, control panel is fixed on the handrail of seat, after accumulator is contained in seat back, controller is installed in seat inside, the seat bottom connects shock-absorbing equipment, seat is connected by hip with thigh, hip has three joints, thigh is connected by knee with shank, knee has a joint, shank is connected with foot by ankle, and ankle has two joints, and each joint is equipped with direct current generator and decelerator, control motor by the signal that control panel sends by controller, thereby control the rotational angle in each joint.
In the foot below ankle six-axis force sensor is installed.Be provided with pick off in the middle of seat and the shank.
The present invention adopts Single-chip Controlling, and the people with disability controls the direct of travel and the function selecting of artificial limb by being installed in control panel on the handrail.Control panel is converted to digital signal with the control signal that receives, and re-sends in the single-chip microcomputer, and single-chip microcomputer carries out gait analysis, sends control signal after calculating, and be converted to analogue signal again and send to direct current generator, thus the running of control direct current generator.The pick off meeting measuring speed of shank installation simultaneously and the counteracting force on ground are digital signal with the analog signal conversion after measuring, and re-send in the single-chip microcomputer, thereby form a closed-loop control system.Direct current generator is controlled by analogue signal, and motor shaft rotates corresponding angle.The motor shaft connection reducer, the output shaft of decelerator is the turning cylinder in each joint.Thereby rotate in each joint of driven by motor.The angle that rotate in each joint is obtained by computed in software.
The present invention adopts Single-chip Controlling, with accumulator as drive energy, have advantages such as control is simple, volume is small and exquisite, applied widely, energy consumption is low, speed is fast, make that the people with disability also can advance as the normal person, retreats, left and right sides translation on the level land, stair activity etc.Compare with existing traditional push chairs, greatest improvement part of the present invention is to adopt lower limb formula structure to replace traditional wheeled construction, manner of walking motion with the class people, thereby solved the inconvenience of people with disability's stair activity, can make the people with disability need not be under other people help just can stair activity or step, enlarge the people with disability greatly and gone out line range, made people with disability's trip obtain great convenience.And, also reduced the consumption on people with disability's muscle power largely owing to be electronic control.In addition, this invention also can be saved the infrastructure costs that is used for installing additional dedicated Lanes.
Description of drawings
Fig. 1 structure front schematic view of the present invention
Fig. 2 texture edge sketch map of the present invention
The joint sketch map of Fig. 3 hip of the present invention, knee, ankle
The specific embodiment
As shown in Figure 1, 2, the present invention includes: control panel 1, seat 2, shock-absorbing equipment 3, hip 4, accumulator 5, controller 6, thigh 7, knee 8, shank 9, ankle 10, foot 11.Its annexation is: control panel 1 is fixed on the handrail of seat 2, is provided with stick and function key above, control respectively direction of advance pacifically, the selection of stair activity.Accumulator 5 is contained in seat 2 behind, in order to the balance center of gravity.Controller 5 is installed in seat 2 inside, thereby reduces volume.Seat 2 bottoms connect shock-absorbing equipment 3, adopt spring vibration damper to reduce the influence of leg exercise to the people with disability.Shock-absorbing equipment 3 is connected by hip 4 with thigh 5, and hip 4 has three joints, can rotate around vertical axis Z, antero posterior axis X, trunnion axis Y.Thigh 7 is connected by knee 8 with shank 9, and knee 8 has a joint, can rotate around trunnion axis Y.Shank 9 is connected with foot 11 by ankle 10, and ankle 10 has two joints, can rotate around antero posterior axis X, trunnion axis Y.Like this, every lower limb has six joints, can imitate the various motions of human leg fully, thereby realizes giving the people with disability to load onto " both legs " again.Realize by direct current generator and decelerator in each joint, controls the motor rotation time by the signal that control panel 1 sends by controller, thereby control each joint rotational angle.
As shown in Figure 3, known to above-mentioned, the left and right sides of the present invention both legs respectively have six joints, they be respectively seat rotation usefulness around joint 12 and 18 that vertical axis Z rotates, seat around joint 13 and 19 that antero posterior axis X rotates, joint 14 and 20, the knee of facing upward the direction of bowing (around trunnion axis Y) of thigh joint 15 and 21, the foot of facing upward the direction of bowing (around trunnion axis Y) face upward the joint 16 and 22 and the joint 17 and 23 of rotation direction (around antero posterior axis X) of the direction of bowing (around trunnion axis Y).In walking, drive above-mentioned 12 joints with suitable angle, can provide desirable action for shank by motor, can be arbitrarily in the three dimensions walking.
In addition, six-axis force sensor 24,25 is installed in the foot below ankle 10, in acting on the external force of robot, detects the three direction component F that act on the ground reaction force of robot from ground plane
X, F
Y, F
ZThree direction composition M with moment
X, M
Y, M
Z, and, be converted to digital signal with detected signal, send into CPU.
In addition, in the middle of seat 2 and shank, be provided with pick off 26, be used for detecting inclination and angular velocity thereof vertical axis.In addition, the motor in each joint makes two thighs 7, two shank 9 relative displacements by decelerator, also is provided with the rotary encoder (diagram slightly among Fig. 3) that detects its rotation amount simultaneously between motor and decelerator
Claims (7)
1, a kind of double feet walking artificial limb, comprise: control panel (1), seat (2), shock-absorbing equipment (3), accumulator (5), controller (6), it is characterized in that, also comprise: hip (4), thigh (7), knee (8), shank (9), ankle (10), foot (11), control panel (1) is fixed on the handrail of seat (2), accumulator (5) is contained in seat (2) behind, controller (5) is arranged on seat (2) inside, seat (2) bottom connects shock-absorbing equipment (3), shock-absorbing equipment (3) is connected by hip (4) with thigh (7), hip (4) has three joints, thigh (7) is connected by knee (8) with shank (9), knee (8) has a joint, shank (9) is connected with foot (11) by ankle (10), ankle (10) has two joints, and rotate by direct current generator and decelerator control in each joint, and motor is controlled by controller (6) by the signal that control panel (1) sends.
2, double feet walking artificial limb according to claim 1 is characterized in that, hip (4) has three joints, rotates around vertical axis, trunnion axis, antero posterior axis.
3, double feet walking artificial limb according to claim 1 is characterized in that, knee (8) has a joint, rotates around trunnion axis.
4, double feet walking artificial limb according to claim 1 is characterized in that, ankle (10) has two joints, rotates around trunnion axis, antero posterior axis, is provided with six-axis force sensor (24,25) in the foot (11) of ankle (10) below.
5, double feet walking artificial limb according to claim 1 is characterized in that, at the middle pick off (26) that is provided with of seat (2) and shank, is provided with rotary encoder simultaneously between each motor and decelerator.
6, double feet walking artificial limb according to claim 1 is characterized in that, control panel is provided with stick and function key above (1).
7, double feet walking artificial limb according to claim 1 is characterized in that, shock-absorbing equipment (3) adopts spring vibration damper.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2004100665919A CN1586440A (en) | 2004-09-23 | 2004-09-23 | Two feet walking artificial limb |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2004100665919A CN1586440A (en) | 2004-09-23 | 2004-09-23 | Two feet walking artificial limb |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1586440A true CN1586440A (en) | 2005-03-02 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2004100665919A Pending CN1586440A (en) | 2004-09-23 | 2004-09-23 | Two feet walking artificial limb |
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| CN (1) | CN1586440A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101394974B (en) * | 2006-03-01 | 2010-12-08 | 丰田自动车株式会社 | Legged robot |
| CN101495275B (en) * | 2006-07-31 | 2011-02-23 | 丰田自动车株式会社 | Legged robot |
| CN103010330A (en) * | 2012-12-20 | 2013-04-03 | 华南理工大学 | Biped walking robot |
| CN103241302A (en) * | 2013-05-29 | 2013-08-14 | 哈尔滨工业大学 | Pneumatic muscle driving bionic frog bouncing leg mechanism employing dual-joint mechanism form |
| CN103241301B (en) * | 2013-05-29 | 2015-06-17 | 哈尔滨工业大学 | Pneumatic muscle driven frog-imitation bouncing leg having perceptivity |
| CN104856838A (en) * | 2015-04-30 | 2015-08-26 | 华东理工大学 | Walking booster |
| CN105607632A (en) * | 2015-10-15 | 2016-05-25 | 浙江大学 | Actuation control method for hopping movement of 3D underactuated biped robot |
| CN105599816A (en) * | 2015-10-20 | 2016-05-25 | 浙江大学 | Gait planning method of 3D (3 dimensional) underactuated biped robot jumping motion |
| CN106938674A (en) * | 2017-03-15 | 2017-07-11 | 上海未来伙伴机器人有限公司 | Robot leg steering wheel and robot |
| CN109178139A (en) * | 2018-11-19 | 2019-01-11 | 东莞深圳清华大学研究院创新中心 | A kind of Mini humanoid robot six degree of freedom leg structure of hip joint enhancing |
-
2004
- 2004-09-23 CN CNA2004100665919A patent/CN1586440A/en active Pending
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101394974B (en) * | 2006-03-01 | 2010-12-08 | 丰田自动车株式会社 | Legged robot |
| CN101495275B (en) * | 2006-07-31 | 2011-02-23 | 丰田自动车株式会社 | Legged robot |
| CN103010330A (en) * | 2012-12-20 | 2013-04-03 | 华南理工大学 | Biped walking robot |
| CN103241302A (en) * | 2013-05-29 | 2013-08-14 | 哈尔滨工业大学 | Pneumatic muscle driving bionic frog bouncing leg mechanism employing dual-joint mechanism form |
| CN103241302B (en) * | 2013-05-29 | 2015-06-17 | 哈尔滨工业大学 | Pneumatic muscle driving bionic frog bouncing leg mechanism employing dual-joint mechanism form |
| CN103241301B (en) * | 2013-05-29 | 2015-06-17 | 哈尔滨工业大学 | Pneumatic muscle driven frog-imitation bouncing leg having perceptivity |
| CN104856838A (en) * | 2015-04-30 | 2015-08-26 | 华东理工大学 | Walking booster |
| CN105607632A (en) * | 2015-10-15 | 2016-05-25 | 浙江大学 | Actuation control method for hopping movement of 3D underactuated biped robot |
| CN105607632B (en) * | 2015-10-15 | 2018-02-16 | 浙江大学 | A kind of drive control method of 3D under-actuated bipods robot jumping |
| CN105599816A (en) * | 2015-10-20 | 2016-05-25 | 浙江大学 | Gait planning method of 3D (3 dimensional) underactuated biped robot jumping motion |
| CN105599816B (en) * | 2015-10-20 | 2018-02-16 | 浙江大学 | A kind of gait planning method of 3D under-actuated bipods robot jumping |
| CN106938674A (en) * | 2017-03-15 | 2017-07-11 | 上海未来伙伴机器人有限公司 | Robot leg steering wheel and robot |
| CN109178139A (en) * | 2018-11-19 | 2019-01-11 | 东莞深圳清华大学研究院创新中心 | A kind of Mini humanoid robot six degree of freedom leg structure of hip joint enhancing |
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