CN205867049U - Protection of wearing formula ankle and foot booster unit - Google Patents
Protection of wearing formula ankle and foot booster unit Download PDFInfo
- Publication number
- CN205867049U CN205867049U CN201620475009.2U CN201620475009U CN205867049U CN 205867049 U CN205867049 U CN 205867049U CN 201620475009 U CN201620475009 U CN 201620475009U CN 205867049 U CN205867049 U CN 205867049U
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- China
- Prior art keywords
- ankle
- foot
- wearable
- protection
- ankle joint
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Abstract
The utility model provides a protection of wearing formula ankle and foot booster unit, belongs to human bionical ectoskeleton technical field. Including the wearable structure of foot, shank connecting rod, ankle rotation axis and ankle joint base, the ankle joint base is fixed in heel side after the wearable structure of foot, and the ankle rotation axis is installed on ankle joint pedestal mounting station, and just it radially returns the power spring to be provided with the ankle joint for ankle joint connecting dowel between ankle rotation axis upper portion and the shank member, ankle joint pivot lower part ankle joint axis in the overcoat stretches into ankle joint pedestal mounting station after to the spring and adopts the ankle rotation axis to link the pin fixedly. The utility model discloses alone the design has a wearable device of ankle protection and foot helping hand function, increases back the structure of doing all can in foot ankle part position for protection of wearing formula ankle and foot booster unit back row in the front has good luck and has the corresponding degree of freedom and return power function, has the degree of freedom that cushions gravity about corresponding simultaneously and returns power function, can extensively be used for various " helping hands ", " helping the disabled ", " correction healthily " field.
Description
Technical field
The invention belongs to simulation of human body ectoskeleton technical field, relate to human body lower limbs ectoskeleton, be specifically related to one and have
Ankle protection and the wearable device of foot assist function.
Background technology
Ectoskeleton is that one can provide biological soft inside organ is carried out configuration, the hard outside built and protect
Structure.People's exoskeleton is also referred to as robotic exoskeleton, refers to the robot being enclosed within outside human body, also referred to as " wearable machine
People ".Exoskeleton robot technology be merge sensing, control, information, fusion, mobile computing, for as people provide one to wear
The complex art of the frame for movement worn.
The ectoskeletal research of human body originates from the individual soldier in Military Application the earliest and bears a heavy burden the demand in terms of demand, i.e. power-assisted.
Along with scientific and technological progress and the raising of living standards of the people, various " power-assisteds ", " helping the disabled ", people's exoskeleton research of " healthy rectification "
Start to rise.
Functionally distinguishing, people's exoskeleton relates generally to several big types such as " power-assisted ", " helping the disabled ", " healthy rectification "；From
Having unpowered upper differentiation, (this robot can provide the dynamic of walking for wearer to be broadly divided into " active " people's exoskeleton
Power) and " passive-type " people's exoskeleton (this robot can not for wearer provide walking power, its action is passively followed
The action of people and action).
Human body lower limbs ectoskeleton, generally includes for the profiling mechanism structure of human body lower limbs motion with for by profiling mechanism
Structure coupling assembly together with body-coupled.Wherein, the profiling mechanism structure for human body lower limbs motion includes that lower limb are tied
Structure and hip structure.Described lower limb structure includes left lower limb structure and right lower limb structure, and described left lower limb structure all includes with right lower limb structure
Imitative human thigh's structure, shank structure and foot structure, described thigh structure is connected by knee joint rotating shaft with shank structure, institute
State shank structure to be connected by ankle joint rotating shaft with foot structure；Described hip structure is led to respectively with left lower limb structure, right lower limb structure
Cross hip joint rotating shaft to be connected.Described coupling assembly includes waist coupling unit, thigh coupling unit, shank coupling unit, foot
Coupling unit.
Recover and foot power-assisted aspect for independent ankle from sprains, lack at present and there is ankle protection and foot power-assisted merit
The report of the wearable device of energy.
Summary of the invention
The present invention provides a kind of Wearable ankle protection and foot power assisting device, by tying existing human body lower limbs ectoskeleton
Structure improves, individually designed go out have ankle protection and the wearable device of foot assist function.
The technical scheme is that
A kind of Wearable ankle protection and foot power assisting device, including the wearable structure of foot, shank link 001, ankle
Rotary shaft 002 and ankle joint base 013；Described ankle joint base 013 is fixed on the side of foot wearable structure heel region,
Described ankle rotation axis 002 is installed on the installation station of ankle joint base 012, described ankle rotation axis 002 top and shank
Use ankle joint connecting pin 015 to connect with rotating shaft mode between rod member 001 and be provided with ankle joint radially return spring 016,
There is when walking before and after making the protection of Wearable ankle and foot power assisting device corresponding degree of freedom and return power function；Described ankle closes
Stretch into the installation station of ankle joint base and use ankle rotation axis after one the ankle joint axle spring 003 of overcoat of joint rotating shaft bottom
Link pin 014 is fixed so that the protection of Wearable ankle and foot power assisting device have the degree of freedom buffering gravity accordingly up and down
With time power function.
Further, described shank link 001 top and bottom are respectively provided with the structure that is of coupled connections, for by shank link
001 is coupled with human calf is connected (described in be of coupled connections structure bandage can be used to realize).
Further, the wearable structure of described foot includes wear-resisting antiskid bottom 009, resilient middle layer 008 and upper strata footwear
Side structure, described upper strata upper construction includes Shoe-upper base heel part 005 and upper of a shoe forefoot part 006.At the bottom of described wear-resisting antiskid
Layer 009 can be made by elastomeric material or the main material containing rubber constituent；Described resilient middle layer 008 can be by elastomeric material or master
The material of rubber constituent to be contained makes；Described upper strata upper construction can use leather, dry goods or plastic material to make.
Further, described ankle joint base 013 stretches into the wearable structure of foot by metab connecting plate 012 and consolidates
Fixed mode is connected with described wearable structure (such as: described ankle joint base 013 is stretched by metab connecting plate 012
Enter the wear-resisting antiskid bottom 009 of the wearable structure of foot and resilient middle layer 008 fixing mode and described wearable structure
It is connected).
The invention has the beneficial effects as follows: the present invention, by improving existing human body lower limbs ectoskeleton structure, individually sets
Count out and there is ankle protection and the wearable device of foot assist function, increase back power structure at ankle position so that Wearable
Ankle protection and foot power assisting device have corresponding degree of freedom and return power function when walking front and back, have corresponding upper and lower simultaneously
The degree of freedom of buffering gravity and time power function.The method can be widely used in various " power-assisted ", " helping the disabled ", " healthy rectification " field.
Accompanying drawing explanation
Fig. 1 is that the Wearable ankle that the present invention provides is protected and foot power assisting device decomposition texture schematic diagram.
Fig. 2 is that the Wearable ankle that the present invention provides is protected and the sectional view of foot power assisting device.
Reference in Fig. 1 to Fig. 2: shank link 001, ankle rotation axis 002, ankle joint axle spring 003, pad
004, in the middle of Shoe-upper base heel part 005, upper of a shoe forefoot part 006, forefoot right pressure sensor installing hole 007, elasticity
Layer 008, wear-resisting antiskid bottom 009, forefoot left pressure sensor installing hole 010, heel-pressure sensor mounting hole 011,
Metab connecting plate 012, ankle joint base 013, ankle rotation axis link pin 014, ankle joint connecting pin 015, ankle close
Pitch diameter is to return spring 016.
Detailed description of the invention
The present invention will be further described below in conjunction with the accompanying drawings.
As shown in Figure 1, 2, a kind of Wearable ankle protection and foot power assisting device, including the wearable structure of foot, shank
Connecting rod 001, ankle rotation axis 002 and ankle joint base 013；After described ankle joint base 013 is fixed on the wearable structure of foot
The side of heel position, described ankle rotation axis 002 is installed on the installation station of ankle joint base 012, described ankle rotation axis
Use ankle joint connecting pin 015 to be connected with rotating shaft mode between 002 top with shank rod member 001 and be provided with ankle joint radial direction
Return spring 016 so that during walking, there is corresponding degree of freedom and Hui Li before and after the protection of Wearable ankle and foot power assisting device
Function；The installation station of ankle joint base is stretched into also after one the ankle joint axle spring 003 of overcoat of described ankle joint rotating shaft bottom
Ankle rotation axis link pin 014 is used to fix so that the protection of Wearable ankle and foot power assisting device have and delay up and down accordingly
Rush the degree of freedom of gravity and return power function.
Further, described shank link 001 top and bottom are respectively provided with the structure that is of coupled connections, for by shank link
001 is coupled with human calf is connected (described in be of coupled connections structure bandage can be used to realize).
Further, the wearable structure of described foot includes wear-resisting antiskid bottom 009, resilient middle layer 008 and upper strata footwear
Side structure, described upper strata upper construction includes Shoe-upper base heel part 005 and upper of a shoe forefoot part 006.At the bottom of described wear-resisting antiskid
Layer 009 can be made by elastomeric material or the main material containing rubber constituent；Described resilient middle layer 008 can be by elastomeric material or master
The material of rubber constituent to be contained makes；Described upper strata upper construction can use leather, dry goods or plastic material to make.
Further, described ankle joint base 013 stretches into the wearable structure of foot by metab connecting plate 012 and consolidates
Fixed mode is connected with described wearable structure (such as: described ankle joint base 013 is stretched by metab connecting plate 012
Enter the wear-resisting antiskid bottom 009 of the wearable structure of foot and resilient middle layer 008 fixing mode and described wearable structure
It is connected).
Additionally, in order to coordinate control system, it is simple to control system gathers data, the Wearable ankle protection that the present invention provides
And foot power assisting device, it is respectively provided with in the middle part of forefoot right part, forefoot left part and the heel of described resilient middle layer (008)
(being forefoot right pressure sensor installing hole 007 respectively, forefoot left pressure senses a pressure transducer installing hole
Device installing hole 010 and heel-pressure sensor mounting hole 011).
The present invention by existing human body lower limbs ectoskeleton structure is improved, individually designed go out have ankle protection and foot
The wearable device of portion's assist function, increases back power structure at ankle position so that the protection of Wearable ankle and foot power-assisted dress
Put and there is when walking front and back corresponding degree of freedom and return power function, have simultaneously and buffer the degree of freedom of gravity accordingly up and down and return
Power function.The method can be widely used in various " power-assisted ", " helping the disabled ", " healthy rectification " field.
Claims (7)
1. the protection of Wearable ankle and a foot power assisting device, including the wearable structure of foot, shank link (001), ankle
Rotary shaft (002) and ankle joint base (013)；Described ankle joint base (013) is fixed on foot wearable structure heel region
Side, described ankle rotation axis (002) is installed on the installation station of ankle joint base (012), described ankle rotation axis
(002) use ankle joint connecting pin (015) to be connected with rotating shaft mode between top with shank rod member (001) and be provided with ankle pass
Pitch diameter is to return spring (016) so that have corresponding freedom during walking before and after the protection of Wearable ankle and foot power assisting device
Degree and time power function；Ankle joint base is stretched into after one the ankle joint axle spring (003) of overcoat of described ankle joint rotating shaft bottom
Station is installed and uses ankle rotation axis link pin (014) to fix so that the protection of Wearable ankle and foot power assisting device tool
Have and buffer the degree of freedom of gravity accordingly up and down and return power function.
Wearable ankle the most according to claim 1 protection and foot power assisting device, it is characterised in that: described shank link
(001) top and bottom are respectively provided with the structure that is of coupled connections, and are connected for being coupled with human calf by shank link (001).
Wearable ankle the most according to claim 2 protection and foot power assisting device, it is characterised in that be of coupled connections described in:
Structure is bandage.
Wearable ankle the most according to claim 1 protection and foot power assisting device, it is characterised in that: described foot can be worn
Wear structure and include wear-resisting antiskid bottom (009), resilient middle layer (008) and upper strata upper construction, described upper strata upper construction bag
Include Shoe-upper base heel part (005) and upper of a shoe forefoot part (006).
Wearable ankle the most according to claim 4 protection and foot power assisting device, it is characterised in that: described elastic middle
It is respectively arranged with a pressure transducer installing hole in the middle part of the layer forefoot right part of (008), forefoot left part and heel.
Wearable ankle the most according to claim 1 protection and foot power assisting device, it is characterised in that: at the bottom of described ankle joint
Seat (013) by metab connecting plate (012) stretch into the wearable structure of foot and fix by the way of and described wearable structure
It is connected.
Wearable ankle the most according to claim 4 protection and foot power assisting device, it is characterised in that: at the bottom of described ankle joint
Seat (013) is stretched in the middle of wear-resisting antiskid bottom (009) and the elasticity of the wearable structure of foot by metab connecting plate (012)
Layer (008) fixing mode are connected with described wearable structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620475009.2U CN205867049U (en) | 2016-05-23 | 2016-05-23 | Protection of wearing formula ankle and foot booster unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620475009.2U CN205867049U (en) | 2016-05-23 | 2016-05-23 | Protection of wearing formula ankle and foot booster unit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205867049U true CN205867049U (en) | 2017-01-11 |
Family
ID=57689737
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620475009.2U Expired - Fee Related CN205867049U (en) | 2016-05-23 | 2016-05-23 | Protection of wearing formula ankle and foot booster unit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205867049U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105816298A (en) * | 2016-05-23 | 2016-08-03 | 成都奥特为科技有限公司 | Wearable ankle protection and foot power assisting device |
| CN107127739A (en) * | 2017-06-23 | 2017-09-05 | 电子科技大学中山学院 | The ankle-joint boosting mechanism that a kind of ectoskeleton is used |
| CN108938337A (en) * | 2017-05-19 | 2018-12-07 | 南京拓步智能科技有限公司 | A kind of ankle rehabilitation assistance type exoskeleton device |
| CN109223450A (en) * | 2018-08-30 | 2019-01-18 | 广东宏穗晶科技服务有限公司 | A kind of robot convenient for patient's installation |
| CN109316716A (en) * | 2018-11-05 | 2019-02-12 | 福州大学 | A kind of master based on force signal passively merges ankle convalescence device |
| CN109702710A (en) * | 2017-10-26 | 2019-05-03 | 深圳市肯綮科技有限公司 | A kind of foot device and its lower limb power assistive device of detectable plantar pressure |
| CN112076017A (en) * | 2019-06-13 | 2020-12-15 | 张佳琦 | Human ankle joint helping hand dresses device |
| CN113519963A (en) * | 2021-06-22 | 2021-10-22 | 东营恒聚体育文化发展有限公司 | Basketball player phase-changing ankle protection system |
-
2016
- 2016-05-23 CN CN201620475009.2U patent/CN205867049U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105816298A (en) * | 2016-05-23 | 2016-08-03 | 成都奥特为科技有限公司 | Wearable ankle protection and foot power assisting device |
| CN108938337A (en) * | 2017-05-19 | 2018-12-07 | 南京拓步智能科技有限公司 | A kind of ankle rehabilitation assistance type exoskeleton device |
| CN108938337B (en) * | 2017-05-19 | 2024-02-06 | 南京拓步智能科技有限公司 | Ankle rehabilitation assistance type exoskeleton device |
| CN107127739A (en) * | 2017-06-23 | 2017-09-05 | 电子科技大学中山学院 | The ankle-joint boosting mechanism that a kind of ectoskeleton is used |
| CN109702710A (en) * | 2017-10-26 | 2019-05-03 | 深圳市肯綮科技有限公司 | A kind of foot device and its lower limb power assistive device of detectable plantar pressure |
| CN109223450A (en) * | 2018-08-30 | 2019-01-18 | 广东宏穗晶科技服务有限公司 | A kind of robot convenient for patient's installation |
| CN109316716A (en) * | 2018-11-05 | 2019-02-12 | 福州大学 | A kind of master based on force signal passively merges ankle convalescence device |
| CN109316716B (en) * | 2018-11-05 | 2024-04-16 | 福州大学 | Active and passive ankle rehabilitation device based on force signals |
| CN112076017A (en) * | 2019-06-13 | 2020-12-15 | 张佳琦 | Human ankle joint helping hand dresses device |
| CN113519963A (en) * | 2021-06-22 | 2021-10-22 | 东营恒聚体育文化发展有限公司 | Basketball player phase-changing ankle protection system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170111 Termination date: 20210523 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |