CN207373164U - Back assistance exoskeleton system - Google Patents
Back assistance exoskeleton system Download PDFInfo
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- CN207373164U CN207373164U CN201721488246.3U CN201721488246U CN207373164U CN 207373164 U CN207373164 U CN 207373164U CN 201721488246 U CN201721488246 U CN 201721488246U CN 207373164 U CN207373164 U CN 207373164U
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Abstract
The utility model provides a kind of back assistance exoskeleton system, including：Back object wearing device, back connect band, controller, driving device, waist worn device, thigh connect band, thigh object wearing device and detection device；The connect band at least partially Hookean region, detection device detection user's physical condition or motion intention, the controller control the driving device to take in or release the connect band.Assistance exoskeleton system in back provided by the utility model can provide power-assisted to the small of the back, and rigid structure is few, small, light-weight, convenient for dressing and using.
Description
Technical field
The utility model is related to the field of medical instrument technology more particularly to a kind of back assistance exoskeleton systems.
Background technology
The disease of current social the small of the back shows the trend to become younger such as lumbar muscle strain, waist dish outstanding, especially
It is to need the crowd to bend over for a long time or frequently, it is necessary to which the small of the back disease is suffered from a kind of device reduction for mitigating the small of the back burden
Risk；Such as the patent that China Patent Publication No. is CN106821682A, it is proposed that a kind of wearable waist power assisting device leads to
Steering engine and torsional spring the cooperation outputting torsion at hip joint are crossed, achievees the purpose that power-assisted；For another example China Patent Publication No. is CN
The patent of 206416160U proposes a kind of pneumatic ectoskeleton power assisting device, implements power-assisted to the small of the back using actuating cylinder.
Waist power assisting device of the prior art, actually only in hip joint outputting torsion, there is no to waist and back
Apparent power-assisted, and based on rigid structure, weight is big, bio-imitability is poor.
The content of the invention
The purpose of this utility model is to provide a kind of back assistance exoskeleton system, solves waist power-assisted in the prior art and fills
Put the problem of weight is big, bio-imitability is poor.
The utility model provides a kind of back assistance exoskeleton system, including：Object wearing device, controller, encoder, driving
Device, connect band and detection device；The object wearing device includes being worn on the waist worn device of user waist and be worn on
User back or the back object wearing device of huckle or thigh object wearing device, the controller and the driving device pass through institute
It states object wearing device and is worn on user waist, one end of the connect band is connected with the back or thigh object wearing device, described
The other end of connect band is fixedly connected with the driving device；The connect band at least partially Hookean region, the detection dress
It puts detection user's physical condition or motion intention, the encoder is arranged in the driving device, the encoder detection
The length of the connect band is taken in or released to the driving device, and the controller controls the driving device to take in or release institute
State connect band.
The utility model has the beneficial effect that compared to the prior art：The both ends of the connect band respectively with the back or
Thigh object wearing device is fixedly connected with the driving device, the connect band at least partially Hookean region, can be to the small of the back
Power-assisted is provided, reduces rigid structure, it is light-weight, it dresses and easy to use.
Further, connect band at least part region is inelastic region, the inelastic region and the driving
Device connects, and avoids producing when the position being connected with the driving device is incorporated into or releases the driving device due to connect band
Raw elastic telescopic influences the encoder and detects the accuracy that the connection strip length was taken in or released to the driving device.
Further, the detection device includes load sensor, and the load sensor both ends are connected to elasticity
Filament, the elastic threads are fixed on the Hookean region, and the load sensor can be detected accurately in connect band
Power size, testing result can be used as feedback signal to realize closed-loop control, can be anti-in time when the connect band stress is excessive
Feedback, the controller can judge that user initially enters process of bending over or stand up according to the feedback signal, and control in time generates
Power-assisted auxiliary user bends over or stands up.Further, the detection device includes load sensor, the load sensing utensil
Flexible, the load sensor is fixed on the Hookean region, and the load sensor can accurately detect to connect
The size of power in band, testing result can be used as feedback signal to realize closed-loop control, when the connect band stress is excessive can and
When feed back, in addition, the controller can also be judged according to the feedback signal user initially enter bend over or stand up process and
When control release or take in the connect band.
Further, the detection device includes inertial sensor, and the inertial sensor is arranged at user's upper body
Point, the direction of inertial sensor detection user's upper body acceleration, the controller is detected according to the inertial sensor
Data judge that user initially enters process of bending over or stand up, the controller can accurately judge user's motion state and
When control generate power-assisted auxiliary user bend over or stand up.
Further, the detection device includes air pressure gage, and the air pressure gage has tracheae, and the tracheae prolongs
User's oral area is extended, the air pressure gage detects air pressure change in user mouthful, and the controller is according to the air pressure
The data of power meter detection judge that user initially enters process of bending over or stand up, and thus user can pass through according to actual conditions
Air-breathing or expiration easily control the back assistance exoskeleton system to generate power-assisted from advocating peace.
Further, the detection device includes pressure sensor, and the pressure sensor is arranged in user mouthful simultaneously
The pressure being subject to is detected, the controller judges whether user has initially entered according to the data that the pressure sensor detects
Body process, thus user can easily control the back power-assisted from advocating peace by making snap-action according to actual conditions
The generation of exoskeleton system power-assisted.
Further, the driving device includes driving motor and idler wheel, and the driving motor is passed by planetary gear structure
Graduating power drives the idler wheel to rotate, and described connect band one end is fixed and is wrapped on the idler wheel, and the idler wheel is hollow knot
Structure, the driving motor are arranged inside the idler wheel, save space, reduce the volume of driving device.
Further, the driving device also has outside plate, and sensor, the covers disposed on sensor are provided on the outside plate
Directive wheel is equipped with, the connect band bypasses the directive wheel, when the driving device takes in the connect band, the connect band
It tightens and is contacted with the directive wheel and generate pressure, the sensor detects the pressure and is sent to the control as feedback signal
Device processed can be timely feedbacked when the power is excessive, in addition, the controller can also judge that user opens according to the feedback signal
Begin into bending over or process of standing up, control in time generates power-assisted auxiliary user and bends over or stand up.
Further, the covers disposed on sensor is put there are two directive wheel, and the connect band is passed through in described two directive wheels
Between, the connect band is enable to be fixed on the directive wheel and is contacted with the directive wheel to generate power, improves the sensor
Detect the accuracy of the pressure.
Further, the thigh connect band is in inverted Y-shaped, the thigh connect band lower end respectively with two thighs of user
On the thigh object wearing device be fixedly connected, make the driving device on two thighs while generate driving force, to waist
Power-assisted effect it is more preferable.
Description of the drawings
In order to illustrate more clearly of the utility model embodiment, one will be made to attached drawing needed in the embodiment below
Simply introduce, it should be apparent that, the accompanying drawings in the following description is some embodiments of the utility model, common for this field
For technical staff, without creative efforts, other attached drawings are can also be obtained according to these attached drawings.
Fig. 1 is back assistance exoskeleton system schematic；
Fig. 2 a are the first face of back connect band schematic diagram；
Fig. 2 b are the second face of back connect band schematic diagram；
Fig. 2 c are the first face of thigh connect band schematic diagram；
Fig. 2 d are the second face of thigh connect band schematic diagram；
Fig. 3 is the load sensor schematic diagram with elastic threads；
Fig. 4 is elastic load sensor schematic；
Fig. 5 is power set exploded perspective view；
Fig. 6 is intermeshed connection diagram for driving wheel and follower by tooth；
Fig. 7 is hollow idler wheel and planetary gear structure schematic diagram；
Fig. 8 a and Fig. 8 b are a variety of roller structure schematic diagrames；
Fig. 9 is directive wheel schematic diagram；
Figure 10 is back assistance exoskeleton system control process figure；
Figure 11 is power-assisted flow chart of the back assistance exoskeleton system during user's moving heavy object.
Specific embodiment
It is new below in conjunction with this practicality to make the purpose, technical scheme and advantage of the utility model embodiment clearer
Attached drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that is retouched
The embodiment stated is the utility model part of the embodiment, instead of all the embodiments.Based on the implementation in the utility model
Example, those of ordinary skill in the art's all other embodiments obtained without creative efforts, belongs to
The scope of the utility model protection.
The mode of connection described in the utility model includes being fixedly connected, is connected, relied on by flexible or semi-flexible pipe or line
The connection mode that frictional contact connection, plug connection, wireless connection or other prior arts include, the side being fixedly connected
Formula, which includes being hinged, be intertwined and connected, the connection of bolt, pin, Elastic buckle, velcro or other prior arts include is fixedly connected
Mode.
User's body described in the utility model includes the freedom in power-assisted joint, the fixing end in power-assisted joint and power-assisted joint
End, at least partly to complete the joint of buckling or extension on user's body by external energy, the power-assisted is closed in power-assisted joint
When saving buckling or extension, the fixing end in the power-assisted joint compared with the power-assisted arthrodesis, dissociate by the power-assisted joint
End is compared with the power-assisted joint motion.
Deformation quantity under jerk-finger stress described in the utility model is more than or equal to 5%, non-ballistic described in the utility model
Property refer to deformation quantity under stress and be less than 5%.
The utility model provides a kind of back assistance exoskeleton system, including object wearing device, controller, encoder, driving
Device, connect band and detection device.The object wearing device includes being worn on the waist worn device of user waist and be worn on
User back or the back object wearing device of huckle or thigh object wearing device, the controller and the driving device pass through institute
It states object wearing device and is worn on user waist, one end of the connect band is connected with the back or thigh object wearing device, described
The other end of connect band is fixedly connected with the driving device.The connect band at least partially Hookean region, the detection dress
Put detection user's physical condition or motion intention data, the data bent over or stood up including user can be embodied, the control
The size for the power that device processed can be detected according to the detection device controls the driving device to take in or release the connect band, is used for
Judge that user initially enters process of bending over or stand up.The encoder is arranged in the driving device, the encoder inspection
It surveys the driving device and takes in or release the length of the connect band as feedback signal, when the length reaches default fixation
During value, the controller controls the driving device stopping to take in or release the tape splicing.
Wherein, the object wearing device can be bandage, clothes or other wearable devices.The elastic region of the connect band
Domain is made of one or more in cotton, spandex, polyamide fibre, terylene or other elastic materials.The Hookean region is by non-resilient
Material forms, and elastic material described in the utility model refers to that the deformation quantity of elasticity is more than or equal to 5% material.
As shown in Figure 1, in some embodiments, back assistance exoskeleton system includes back bandage 1, back connect band 2, moves
Power apparatus 3, waist bandage 4, thigh connect band 5 and thigh bandage 6.Equipped with driving device and controller, power in power set 3
Device 3 is fixed on the waist of wearer, one end and power set of back connect band 2 and thigh connect band 5 by waist bandage 4
3 internal drives are fixedly connected, and the upper end of back connect band 2 is through fixed, thigh after two narrower bore of 1 one end of back bandage
The lower end of connect band 5 is fixed after passing through the narrower bore of 6 one end of thigh bandage of left and right leg.
Thigh connect band 5 is preferably in inverted Y-shaped, and 5 lower end of thigh connect band is worn respectively with the thigh on two thighs of user
It wears device 6 to be fixedly connected, make driving device on two thighs while generates driving force, it is more preferable to the power-assisted effect of waist.
The connect band is preferably made of a variety of materials, and as shown in Figure 2 a, in some embodiments, back connect band 2 is with moving
3 internal drive coupling part of power apparatus is inelastic region, and the inelastic region is made of non-elastic material.This practicality
The new non-elastic material refers to that the deformation quantity of elasticity is less than 5% material, and the non-elastic material is selected from nylon cloth, sail
Cloth, denim, rove, VC coatings cloth or other clothes are avoided since back connect band 2 is in the position being connected with the driving device
It puts and generates elastic telescopic when being incorporated into or release the driving device, influence the encoder detection driving device and take in or release
The accuracy of 2 length of back connect band.In some embodiments, as shown in Figure 1, Figure 2 shown in a and Fig. 2 b, 2 elastic region of connect band at back
First face of one end that domain 21 is connected with back bandage 1 sticker or is sewed with the hair side 23 of velcro and hook surface 24 respectively, works as the back of the body
, can be according to the body sizes of wearer since the region of hair side 23 is big after portion's connect band 2 passes through the narrower bore 11 of back bandage 1, it will
The hook surface 24 of velcro is attached to the suitable position of hair side 23 with fixation.Similarly, as shown in Figure 1, Figure 2 shown in c and Fig. 2 d, some embodiments
In, sticker or it is sewed with velcro respectively in first face of one end that 5 Hookean region 51 of thigh connect band is connected with thigh bandage 6
Hair side 53 and hook surface 54.
In some embodiments of the utility model, the detection device includes load sensor, and the load sensor is set
In the connect band Hookean region, the load sensor is using the size of the power detected as feedback signal transmission to described
Controller, the size for the power that the load sensor detects and pullling in the back connect band or the thigh connect band
Power positive correlation, the controller judge that user initially enters the process of bending over or process of standing up according to the feedback signal：Work as institute
When stating back connect band or thigh connection belt sag, what the load sensor detected, which pull power, is zero and does not become
Change, user is maintained in erectility at this time.When connect band is gradually tensioned, the load sensor detects the connection
The power of pullling taken gradually increases and as feedback signal transmission to the controller, and the controller is according to the feedback signal
Judge that user initially enters the process of bending over.When the connect band gradually relaxes, the load sensor detects the company
Power of pullling on tape splicing is gradually reduced and is used as feedback signal, and the controller judges that user starts according to the feedback signal
Into the process of standing up.The load sensor also provides protection against simultaneously, when what the load sensor detected pulls power
More than certain threshold value, then it is in the hole to regard as the connect band, will take safeguard measure immediately, such as directly will be even
Tape splicing is relaxed to original state.
As shown in figure 3, in some embodiments, 7 both ends of load sensor are fixedly connected with elastic threads 71 respectively, and elasticity is thin
71 both ends of line are separately fixed at back connect band Hookean region 21.It is generated when back connect band 2 is incorporated into the driving device
When pullling power, Hookean region 21 generates certain deformation, while pulls the elastic threads 71 being fixed in Hookean region 21, and elasticity is thin
Also certain power is generated on line 71, and can be detected by load sensor 7.In the size of the power detected and back connect band 2
Pull power positive correlation, to be sent to controller as the feedback signal during control, realize closed-loop control.
As shown in figure 4, in some embodiments, load sensor 7 itself has elasticity, can generate deformation, pass through both ends glue
Patch, velcro or the mode of sewing are fixed at back connect band Hookean region 21.When back connect band 2 is incorporated into the drive
When power is pullled in dynamic device generation, Hookean region 21 generates certain deformation, while also pulls the load being fixed in Hookean region 21
Sensor 7 makes it generate deformation, the size for the power that load sensor 7 is subject to according to the size detection for generating deformation.Load sensing
The size for the power that device 7 detects, can be as the feedback signal hair during control with pullling power positive correlation in back connect band 2
It send to controller, realizes closed-loop control.Wherein, the load sensor is by the use of graphene as the transmitting fiber tow of sensitive conductive material
Sensor or the sensor made using elastic silica gel and piezoelectric sensitivity material.
In some embodiments of the utility model, the detection device includes inertial sensor, and the inertial sensor will be examined
The change in the user's upper body acceleration direction measured is turned to feedback signal transmission to the controller, and the controller is according to institute
It states feedback signal and judges that user initially enters the process of bending over or process of standing up：When the inertial sensor is detected on user
Body is sentenced when generating downward acceleration as feedback signal transmission to the controller, the controller according to the feedback signal
Disconnected user initially enters the process of bending over.When the inertial sensor by the variation of the user's upper body angle detected generate to
On acceleration when as feedback signal transmission to the controller, the controller user is judged according to the feedback signal
Initially enter the process of standing up.
In some embodiments of the utility model, the detection device includes air pressure gage, and the air pressure gage has
Tracheae, the tracheae extend to user's oral area.When user prepares to bend over, the user is to the air pressure gage
Tracheae is blown, and when user prepares to stand up, the user is to the tracheae air-breathing of the air pressure gage.It bends over to user
Or the determination methods for state of standing up are：The air pressure gage detects that air pressure becomes wonderful works feedback signal transmission to the control
Device, the controller judge that user blows to the tracheae of the air pressure gage according to the feedback signal, initially enter curved
Waist process.The air pressure gage detects that air pressure becomes smaller as feedback signal transmission to the controller, the controller root
Judge tracheae air-breathing of the user to the air pressure gage according to the feedback signal, initially enter the process of standing up.Thus
User can control the back assistance exoskeleton system to generate power-assisted according to actual conditions.
In some embodiments of the utility model, the detection device includes pressure sensor, and the pressure sensor is set
It is arranged in user mouthful, such as by pressure sensor in facing, facing is worn in mouth by user, and user is standing up
When need the pressure sensor in articulation port, the determination methods for state of standing up to user are：The pressure sensor detection
To pressure increase as feedback signal transmission to the controller, the controller judges that user stings according to the feedback signal
The pressure sensor in healing up, initially enters the process of standing up.Thus user can control the waist according to actual conditions
It carries on the back assistance exoskeleton system and generates power-assisted.
In some embodiments of the utility model, the detection device includes myoelectric sensor, and the myoelectric sensor is attached to
User waist, back or huckle, for detect waist, at back or huckle muscle electromyography signal.It is curved to user
The determination methods of waist or state of standing up are：It is described when the myoelectric sensor detects waist or back emg amplitude increase
Myoelectric sensor judges flesh at user waist or back as feedback signal transmission to the controller, the controller
Meat starts to have an effect, and initially enters the process of bending over.When the myoelectric sensor detects huckle emg amplitude increase, the flesh
For electric transducer as feedback signal transmission to the controller, the controller judges that muscle starts at user's huckle
It has an effect, initially enters the process of standing up.
In some embodiments of the utility model, the detection device includes eeg sensor, and the eeg sensor is worn over
User head, user have when bending over or stand up to be intended to the EEG signals that send can respectively by eeg sensor extraction and
Identification, the eeg sensor judge that user starts as feedback signal transmission to the controller, the controller
Into bending over or process of standing up.
As shown in figure 5, in some embodiments, power set 3 include bottom plate 346, the first side plate 341, the second side plate 342,
Upper head plate 343, bottom plate 344, controller 31, controller fixed plate 345 and driving device, the driving device include driving electricity
Machine 32, driving wheel 331, follower 332, follower shaft 333 and idler wheel 334.First side plate 341 and the second side plate 342 are distinguished
A frame is spliced to form with the fixation of bottom plate 346, upper head plate 343, bottom plate 344 and controller fixed plate 345, controller 31 is solid
It is scheduled in controller fixed plate 345, controller 31 controls driving motor 32 to rotate.Driving motor 32 is arranged in the frame,
The output shaft 321 of driving motor 32 is through the first side plate 341 and is fixedly connected with the first side plate 341, output shaft 321 and driving wheel
33 are fixed by key connection.Follower shaft 333 passes through idler wheel 334, and one end of connect band 2 and one end of connect band 5 are solid respectively
Determine and be wrapped on idler wheel 334,333 both ends of follower shaft are each passed through the first side plate 341 and the second side plate 342, follower
Shaft 333 is fixed with follower 332 by key connection.Driving wheel 331 and follower 332 are connected by transmission belt 335, driving electricity
The output shaft 321 of machine 32 drives driving wheel 331 to rotate, and driving wheel 331 drives follower 332 to rotate, and follower 332 is by passive
Wheel shaft 333 drives idler wheel 334 to rotate, and idler wheel 334 is involved in or releases connect band 2 and connect band 5.In other embodiments, such as
Shown in Fig. 6, there is tooth, driving wheel 331 and follower 332 to be intermeshed connection by tooth for driving wheel 331 and follower 332.Institute
The angle that stating encoder can be turned over by recording driving motor 32 detects the driving device and takes in or release 2 He of connect band
The length of connect band 5.
As shown in fig. 7, in some embodiments, idler wheel 334 is hollow structure, and driving motor 32 is arranged inside idler wheel 334,
Driving motor 32 drives idler wheel 334 to rotate by planetary gear structure passing power, saves space, reduces driving device entirety body
Product, is convenient for carrying.The idler wheel can also be other various structures, and as shown in Figure 8 a, the idler wheel 334 has axis and in
Two cross bars of axis parallel distribution, connect band 2 are fixedly connected with a wherein cross bar, connect band 5 and another horizontal stroke
Bar is fixedly connected.As shown in Figure 8 b, the idler wheel 334 have axis and four cross bars with axis parallel distribution, connect band 2 with
Wherein a cross bar is fixedly connected, and connect band 5 is fixedly connected with the wherein another cross bar.
In some embodiments of the utility model, the driving device also has outside plate, and sensor is provided on the outside plate,
The covers disposed on sensor is equipped with directive wheel, and the connect band bypasses the directive wheel, when the driving device takes in the connection
During band, the connect band, which is tightened and contacted with the directive wheel, generates pressure, and the sensor detects the pressure as feedback
Signal is sent to controller, and the controller calculates the back connect band or the thigh connect band according to the feedback signal
The power of pullling being subject to controls the driving device to release and take in the back connect band or the thigh connect band, more accurately
Control the generation of power-assisted.
As shown in figure 9, sensor 35 is arranged on 343 inside of driving device upper head plate and 344 inside of bottom plate, sensing
Directive wheel 36 is provided on device 35.Preferably, directive wheel 36 there are two being set on each sensor 35.Connect band 2 and connection
It is passed through respectively among two directive wheels 36 at upper head plate 343 and two directive wheels at bottom plate 344 36 with 5, makes connection
Band, which can be fixed on directive wheel 36 and be contacted with directive wheel 36, generates power, improves sensor 35 and detects the accurate of the pressure
Property.
Figure 10 show the back assistance exoskeleton system control process figure.The number that the detection device 7 will detect
According to as feedback signal transmission to the controller 31, wherein the load sensor 72 in the detection device 7 detects institute
The power of pullling in back connect band 2 or thigh connect band 5 is stated, and as feedback signal transmission to the controller, the control
Device 31 judges that user initially enters the process of bending over or process of standing up according to the feedback signal, and controls institute according to judging result
It states driving device 37 and takes in or release the back connect band 2 or thigh connect band 5.Wherein, the back object wearing device 1 is dressed
At user back, the thigh object wearing device 6 is worn on user's huckle.One end of the back connect band 2 with it is described
Back object wearing device 1 connects, and the other end is fixedly connected with the driving device 37；One end of the thigh connect band 5 with it is described
Thigh object wearing device 6 connects, and the other end is fixedly connected with the driving device 37.The detection device 7 is used to detect user
Physical condition or motion intention.The detection device 7 includes the load sensor 72, inertial sensor, air pressure gage, pressure
One or more combinations in force snesor, myoelectric sensor and eeg sensor.
Figure 11 show the back assistance exoskeleton system power-assisted flow chart, and including S1-S8, eight are moved in user
State during weight：
S1, user walk upright process, the back connect band or thigh connection belt sag, the load sensing
The power that device detects is zero and does not change that, when the controller does not receive feedback signal, the controller is neither taken in
The back connect band or the thigh connect band are not released；
S2, when user starts to bend over, the controller, which receives feedback signal and judges that user initially enters, bent over
Journey, the controller control the driving device to release the back connect band or the thigh connect band；
S3, when user starts to stand up, the controller receives feedback signal and judges that user initially enters and stood up
Journey, the controller control the driving device to take in the back connect band or the thigh connect band, power-assisted user's waist
Carry on the back joint；
S4, user, which bears a heavy burden, to stand up process, and the back connect band or the thigh connect band keep tensioning state, power-assisted
User back joint, the length of the back connect band or the thigh connect band is taken in the encoder detection, when described
When back connect band or the thigh connect band take in default length value, the encoder is as feedback signal transmission
To the controller, the controller stops and locks the driving device；
S5, user's walking with load process, the back connect band or the thigh connect band keep tensioning state；
S6, when user's heavy burden is bent over, the controller, which receives feedback signal and judges that user initially enters, bent over
Journey, the controller control the driving device to release the back connect band or the thigh connect band, at this time the back
Connect band or the thigh connect band still keep tensioning state；
S7, user put down weight process, the controller control the driving device release the back connect band or
The thigh connect band is to default extreme length is released, and the back connect band or the thigh connect band still keep opening at this time
Tight state；
S8, when user starts to stand up, the controller receives feedback signal and judges that user initially enters and stood up
Journey, the controller control the driving device to take in the back connect band or the thigh connect band, user and can reply
To S1.
Those skilled in the art are supplied to the purpose described to the description of the various embodiments of the utility model above.
It is not intended to exhaustive or is not intended to the utility model being limited to single disclosed embodiment.As described above, this reality
It will be apparent with new various replacements and variation for above-mentioned technology one of ordinary skill in the art.Therefore, though
Some alternative embodiments so are specifically discussed, but other embodiment will be apparent or this field
Technical staff relatively easily draws.The utility model be intended to be included in this by discussion cross the utility model all replacements,
It changes and changes and fall the other embodiment in the spirit and scope of above-mentioned application.
Although depicting the utility model by embodiment, it will be appreciated by the skilled addressee that the utility model has
It is many deformation and variation without departing from the utility model spirit, it is desirable to appended claim include these deformation and variation and
The spirit of the utility model is not departed from.
Claims (10)
1. back assistance exoskeleton system, including：Object wearing device, controller, encoder, driving device, connect band and detection dress
It puts；The object wearing device includes being worn on the waist worn device of user waist and is worn on user back or huckle
Back object wearing device or thigh object wearing device, the controller and the driving device are worn on use by the object wearing device
Person's waist, one end of the connect band are connected with the back or thigh object wearing device, the other end of the connect band and described
Driving device is fixedly connected；It is characterized in that, the connect band at least partially Hookean region, the detection device detection uses
Person's physical condition or motion intention, the encoder are arranged in the driving device, the encoder detection driving dress
The length for takeing in or releasing the connect band is put, the controller controls the driving device to take in or release the connect band.
2. assistance exoskeleton system in back as described in claim 1, which is characterized in that connect band at least part region is non-
Hookean region, the inelastic region are connected with the driving device.
3. assistance exoskeleton system in back as described in claim 1, which is characterized in that the detection device includes load sensing
Device, the load sensor both ends are connected to elastic threads, and the elastic threads are fixed on the Hookean region, described
Load sensor detects the size of the Hookean region power.
4. assistance exoskeleton system in back as described in claim 1, which is characterized in that the detection device includes load sensing
Device, the load sensor have elasticity, and the load sensor is fixed on the Hookean region, the load sensor inspection
Survey the size of the Hookean region power.
5. assistance exoskeleton system in back as described in claim 1, which is characterized in that the detection device includes inertia sensing
Device, the inertial sensor are arranged on user's upper body part, the side of inertial sensor detection user's upper body acceleration
To.
6. assistance exoskeleton system in back as described in claim 1, which is characterized in that the detection device includes air pressure
Meter, the air pressure gage have tracheae, and the tracheae extends to user's oral area, the air pressure gage detection user mouthful
Middle atmospheric pressure value.
7. assistance exoskeleton system in back as described in claim 1, which is characterized in that the detection device includes pressure sensing
Device, the pressure sensor are arranged in user mouthful, the pressure value that the pressure sensor detection is subject to.
8. assistance exoskeleton system in back as described in claim 1, which is characterized in that the driving device include driving motor and
Idler wheel, the driving motor drive the idler wheel to rotate by planetary gear structure passing power, and described connect band one end is fixed simultaneously
It is wrapped on the idler wheel, the idler wheel is hollow structure, and the driving motor is arranged inside the idler wheel.
9. assistance exoskeleton system in back as described in claim 1, which is characterized in that the driving device also has outside plate, institute
It states and sensor is provided on outside plate, the covers disposed on sensor is equipped with directive wheel, and the connect band bypasses the directive wheel, when described
When driving device takes in the connect band, the connect band, which is tightened and contacted with the directive wheel, generates pressure, the sensor
Detect the pressure.
10. assistance exoskeleton system in back as claimed in claim 9, which is characterized in that the covers disposed on sensor is put there are two leading
To wheel, the connect band is passed through among described two directive wheels.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721488246.3U CN207373164U (en) | 2017-11-09 | 2017-11-09 | Back assistance exoskeleton system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721488246.3U CN207373164U (en) | 2017-11-09 | 2017-11-09 | Back assistance exoskeleton system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107627291A (en) * | 2017-11-09 | 2018-01-26 | 上海司羿智能科技有限公司 | Back assistance exoskeleton system and its boosting method |
| CN108992313A (en) * | 2018-08-20 | 2018-12-14 | 上海司羿智能科技有限公司 | A kind of soft lower limb assistance exoskeleton |
| CN113314449A (en) * | 2021-06-28 | 2021-08-27 | 江苏科技大学 | Suction-floating type non-contact conveying device and control method |
| CN116728468A (en) * | 2023-08-16 | 2023-09-12 | 北京新赛点体育投资股份有限公司 | Data acquisition system based on wearing equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107627291A (en) * | 2017-11-09 | 2018-01-26 | 上海司羿智能科技有限公司 | Back assistance exoskeleton system and its boosting method |
| CN108992313A (en) * | 2018-08-20 | 2018-12-14 | 上海司羿智能科技有限公司 | A kind of soft lower limb assistance exoskeleton |
| CN113314449A (en) * | 2021-06-28 | 2021-08-27 | 江苏科技大学 | Suction-floating type non-contact conveying device and control method |
| CN113314449B (en) * | 2021-06-28 | 2023-09-08 | 江苏科技大学 | Suction-floating type contactless transport device and control method |
| CN116728468A (en) * | 2023-08-16 | 2023-09-12 | 北京新赛点体育投资股份有限公司 | Data acquisition system based on wearing equipment |
| CN116728468B (en) * | 2023-08-16 | 2023-10-27 | 北京新赛点体育投资股份有限公司 | Data acquisition system based on wearing equipment |
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