CN207564473U - Apery limbic system based on pneumatic muscles - Google Patents
Apery limbic system based on pneumatic muscles Download PDFInfo
- Publication number
- CN207564473U CN207564473U CN201721748922.6U CN201721748922U CN207564473U CN 207564473 U CN207564473 U CN 207564473U CN 201721748922 U CN201721748922 U CN 201721748922U CN 207564473 U CN207564473 U CN 207564473U
- Authority
- CN
- China
- Prior art keywords
- muscle
- fibula
- femur
- musculus
- pelvis
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
Links
Abstract
The utility model discloses a kind of apery limbic system based on pneumatic muscles, with muscle driving hip joint, knee joint, the ankle motion of pneumatic muscles simulation people, has the function of the lower extremity movement for simulating people completely.Apery lower limb include pelvis, femur, fibula, foot, pneumatic muscles and fibula muscle connecting plate, and the pneumatic muscles driving femur that simulation musculus obturator internus, quadrate muscle of thigh, pectineus, breviductor, great adductor muscle, long adductor muscle, gluteus medius, pyriformis, gluteus maximus, iliopsoas act on bends and stretches, takes down the exhibits, ring turns；Biceps muscle of thigh, great adductor muscle, semitendinosus, semimembranosus driving femur and fibula bend and stretch, take down the exhibits, ring turns；Musculus soleus, musculus peroneus brevis, tibialis anterior driving foot bends and stretches, takes down the exhibits, ring turns；Long flexor muscle of thumb, long extensor muscle of thumb, musculus flexor digitorum longus pedis, musculus extensor digitorum longus pedis drive five toes to bend and stretch.The utility model is compact-sized, cleaning, explosion-proof performance are good, available for medical diagnosis, teaching demonstration, exoskeleton rehabilitation training, sportsman's athletic training.
Description
Technical field
The utility model belongs to bio-robot technical field, is related to a kind of apery limbic system based on pneumatic muscles.
Background technology
Pneumatic muscles have many advantages, such as very high power/quality than, only by the easy adjusting of barometric factor, rigidity, have simultaneously
There is the compliance similar to human muscular, therefore pneumatic muscles have a wide range of applications in robot field.It is Chinese special
Profit 201510332488.2,201510181494.2,201510434010.0 proposes to design apery in a manner that muscle is to drawing
Upper limb joint, Chinese patent 201410040899 propose the hybrid mechanism design apery joint of lower extremity using regular distribution, some
Human synovial muscle is ignored, and is still not able to more actually simulate the articular muscle distribution of people and driving situation.
Utility model content
The purpose of this utility model is for above-mentioned existing technological deficiency, is provided a kind of based on the novel of pneumatic muscles
Apery lower limb, the utility model is compact-sized, clean, explosion-proof etc..
To achieve these goals, the technical scheme adopted by the utility model is that：Under a kind of apery based on pneumatic muscles
Limb system, it includes：
A kind of apery limbic system based on pneumatic muscles, which is characterized in that the system includes pelvis 1, femur 2, closed pore
Interior flesh 3, quadrate muscle of thigh 4, pectineus 5, breviductor 6, great adductor muscle 1, long adductor muscle 8, gluteus medius 1, pyriformis 10, gluteus medius two
11st, gluteus maximus 12, iliopsoas 13, biceps muscle of thigh 14, great adductor muscle 2 15, semitendinosus 16, semimembranosus 17, fibula first segment 18, calf
Bone muscle connecting plate 19, musculus soleus 1, musculus soleus 2 21, musculus peroneus brevis 22, tibialis anterior 23, fibula second segment 24,
Foot 25；
Described 2 one end of femur is rotatably connected with the pelvis 1, the other end and the one of the fibula first segment 18
End is rotatably connected；The musculus obturator internus 3, quadrate muscle of thigh 4, pectineus 5, breviductor 6, great adductor muscle 1, long adductor muscle 8, gluteus medius
One 9, pyriformis 10, gluteus medius 2 11, gluteus maximus 12, iliopsoas 13 both ends be rotatably connected to 1 and of pelvis
Between the femur 2, pneumatic operated valve is respectively provided on every muscle, the inflation/deflation of above-mentioned muscle is controlled by pneumatic operated valve, further
Control it flexible, driving femur 2 bends and stretches, takes down the exhibits and ring turn；
The other end of the fibula first segment 18 is fixedly connected with the upper surface of the fibula muscle connecting plate 19；Institute
The biceps muscle of thigh 14 stated, great adductor muscle 2 15, semitendinosus 16, semimembranosus 17 both ends be rotatably connected to the pelvis 1
Between fibula muscle connecting plate 19, pneumatic operated valve is respectively provided on every muscle, biceps muscle of thigh 14, great adductor muscle are controlled by pneumatic operated valve
2 15, the inflation/deflation of semitendinosus 16, semimembranosus 17, driving the bending and stretching, take down the exhibits of femur 2, ring turns and fibula first segment 18, musculus peroneus
The the bending and stretching, take down the exhibits of meat connecting plate 19, ring turn；
One end of the fibula second segment 24 is fixedly connected on the lower surface of the fibula muscle connecting plate 19, described
The other end of fibula second segment 24 be rotatably connected with the foot, the fibula muscle connecting plate 19 drives fibula second
Section 24 bends and stretches, takes down the exhibits, ring turns；
The musculus soleus 1, musculus soleus 2 21, tibialis anterior 23 both ends respectively with the musculus peroneus
The lower surface of meat connecting plate 19, foot 25 are rotatably connected, the both ends of the musculus peroneus brevis 22 respectively with the fibula second
Section 24, foot 25 are rotatably connected；Pneumatic operated valve is all set on every muscle, musculus soleus 1, flatfish are controlled by pneumatic operated valve
Flesh 2 21, musculus peroneus brevis 22, tibialis anterior 23 inflation/deflation, further control it flexible, the bending and stretching, take down the exhibits of driving foot 25, ring
Turn；
Above-mentioned every muscle is pneumatic muscles, the length of every muscle and its is set with the equal apery body of link position of bone
It puts.
Further, the shape of the pelvis imitates human pelvis setting, and is made of metal 3D printing.
Further, the femur 2 is strip, and circumferential there are four face, medial surface, lateral surface, front and backs
Totally four faces, the musculus obturator internus 3, quadrate muscle of thigh 4, pectineus 5, breviductor 6, great adductor muscle 1, long adductor muscle 8 both ends divide equally
Not with below the pelvis 1, the medial surface of femur 2 be rotatably connected, gluteus medius 1, gluteus medius 2 11 both ends divide equally
Lateral surface not with the lateral surface of pelvis 1, femur 2 is rotatably connected, pyriformis 10, gluteus maximus 12 both ends respectively with pelvis
Behind 1, the lateral surface of femur 2 be rotatably connected, the both ends of iliopsoas 13 respectively by before steel wire rope and pelvis 1, stock
It is rotatably connected before bone 2.
Further, the muscle and pelvis 1, femur 2, fibula, being rotatably connected for foot 25 are to pass through steel wire rope
Connection.
The beneficial effects of the utility model are：
1. the utility model can realize that joint is multiple simultaneously using the pneumatic muscles driving joint of more non-uniform Distributions
The movement in direction；
2. the utility model is tight with larger power/quality ratio, preferable compliance, structure using pneumatic muscles driving
The advantages that gathering；
It, can vivid simulation 3. the utility model hip joint, knee joint, ankle-joint are respectively provided with 3,3,3 degree of freedom
The various actions that people's lower limb can be realized help to understand work of the every muscle of organization of human body and human body lower limbs in lower extremity movement
With.
Description of the drawings
Fig. 1 is the novel apery lower limb overall mechanical design figure based on pneumatic muscles；
Fig. 2 is that the novel apery lower limb muscles based on pneumatic muscles connect mechanical construction drawing with femur medial surface；
Fig. 3 is novel apery lower limb thigh other muscle connection mechanical construction drawing based on pneumatic muscles；
Fig. 4 is the novel apery lower limb shank mechanical construction drawing based on pneumatic muscles；
In figure：Pelvis 1, femur 2, musculus obturator internus 3, quadrate muscle of thigh 4, pectineus 5, breviductor 6, great adductor muscle 1, long adductor muscle 8,
Gluteus medius 1, pyriformis 10, gluteus medius 2 11, gluteus maximus 12, iliopsoas 13, biceps muscle of thigh 14, great adductor muscle 2 15, semitendinosus
16th, semimembranosus 17, fibula first segment 18, fibula muscle connecting plate 19, musculus soleus 1, musculus soleus 2 21, musculus peroneus brevis
22nd, tibialis anterior 23, fibula second segment 24, foot 25.
Specific embodiment
As shown in Figs 1-4, a kind of apery limbic system based on pneumatic muscles include pelvis 1, femur 2, musculus obturator internus 3,
Quadrate muscle of thigh 4, pectineus 5, breviductor 6, great adductor muscle 1, long adductor muscle 8, gluteus medius 1, pyriformis 10, gluteus medius 2 11, stern are big
Flesh 12, iliopsoas 13, biceps muscle of thigh 14, great adductor muscle 2 15, semitendinosus 16, semimembranosus 17, fibula first segment 18, fibula muscle connect
Fishplate bar 19, musculus soleus 1, musculus soleus 2 21, musculus peroneus brevis 22, tibialis anterior 23, fibula second segment 24, foot 25.
Wherein, pelvis 1 is rotatably connected with femur 2, musculus obturator internus 3, quadrate muscle of thigh 4, pectineus 5, breviductor 6, great adductor muscle
One 7, the both ends of long adductor muscle 8 respectively by steel wire rope with below pelvis 1, the medial surface of femur 2 be rotatably connected, gluteus medius one
9th, the both ends of gluteus medius 2 11 are rotatably connected respectively by steel wire rope and the lateral surface of pelvis 1, the lateral surface of femur 2, pears shape
Flesh 10, gluteus maximus 12 both ends respectively by steel wire rope with behind pelvis 1, the lateral surface of femur 2 be rotatably connected, iliopsoas
13 both ends before pelvis 1, before femur 2 respectively by steel wire rope with being rotatably connected.Closed pore is controlled by pneumatic operated valve
Interior flesh 3, quadrate muscle of thigh 4, pectineus 5, breviductor 6, great adductor muscle 1, long adductor muscle 8, gluteus medius 1, pyriformis 10, gluteus medius two
11st, the inflation/deflation of gluteus maximus 12, iliopsoas 13 further controls it flexible, can drive that the bending and stretching, take down the exhibits of femur 2, ring turns.
δlh=Jh·δθh
Wherein：δlhFor musculus obturator internus 3, quadrate muscle of thigh 4, pectineus 5, breviductor 6, great adductor muscle 1, long adductor muscle 8, gluteus medius
One 9, the shrinkage of pyriformis 10, gluteus medius 2 11, gluteus maximus 12, iliopsoas 13, JhFor the Jacobian matrix of muscle distribution, δ θh
It bends and stretches, take down the exhibits for femur 2, the angle that ring turns.
It uses the progressive iterative method of newton-Raphel and can be bent and stretched, taken down the exhibits with Real-time solution hip joint, the angle that ring turns
Wherein： For the inverse of Jacobian matrix,For the transposed matrix of Jacobian matrix,For
Musculus obturator internus 3, quadrate muscle of thigh 4, pectineus 5, breviductor 6, great adductor muscle 1, long adductor muscle 8, gluteus medius 1, pyriformis 10, gluteus medius
2 11, gluteus maximus 12, iliopsoas 13 the k moment length.
18 one end of fibula first segment is rotatably connected with femur 2, and the other end is fixedly connected with fibula muscle connecting plate 19, stock
The both ends of biceps 14 respectively by steel wire rope with below pelvis 1, the lateral surface of fibula muscle connecting plate 19 be rotatably connected,
The both ends of great adductor muscle 2 15 respectively by steel wire rope with being rotatably connected below pelvis 1, before fibula muscle connecting plate 19,
Semitendinosus 16, semimembranosus 17 both ends respectively by below steel wire rope and pelvis 1, the medial surface of fibula muscle connecting plate 19 can
Rotation connection controls the inflation/deflation of biceps muscle of thigh 14, great adductor muscle 2 15, semitendinosus 16, semimembranosus 17 by pneumatic operated valve, further
It controls it flexible, the bending and stretching, take down the exhibits of femur 2 can be driven, ring turns and fibula first segment 18, fibula muscle connecting plate 19 are bent
It stretches, take down the exhibits, ring turns.
θfk=Rkhθh+θk
Wherein：θfkFor the actual angle of fibula first segment 18, RkhFor fibula first segment 18 relative to femur 2 three sides
To angle, θhFor musculus obturator internus 3, quadrate muscle of thigh 4, pectineus 5, breviductor 6, great adductor muscle 1, long adductor muscle 8, gluteus medius 1, pears
Shape flesh 10, gluteus medius 2 11, gluteus maximus 12, the lower femur 2 of the effect of iliopsoas 13 are in the angle in three directions, θkFor biceps muscle of thigh
14th, great adductor muscle 2 15, semitendinosus 16, semimembranosus 17 act on angle of the lower fibula first segment 18 in three directions.
One end of fibula second segment 24 is fixedly connected with fibula muscle connecting plate 19, and the other end is rotatably connected with foot 25,
Fibula muscle connecting plate 19 drives fibula second segment 24 bend and stretch, take down the exhibits, ring turns；Musculus soleus 1, musculus soleus 2 21, shin bone
The both ends of preceding flesh 23 are respectively rotatably connected by steel wire rope and fibula muscle connecting plate 19, foot 25, musculus soleus 1, ratio
The upper end of mesh fish flesh 2 21 respectively by steel wire rope with behind fibula muscle connecting plate 19 inside and below on the outside of connect, under
End respectively by steel wire rope with inside foot 25 behind and below on the outside of connect, the upper end of tibialis anterior 23 passes through steel wire rope and diseased
It is connected before bone muscle connecting plate 19, lower end is connect by steel wire rope with inside before foot 25, the both ends of musculus peroneus brevis 22
By steel wire rope respectively with being rotatably connected behind fibula second segment 24 and behind foot 25, flatfish is controlled by pneumatic operated valve
Flesh 1, musculus soleus 2 21, musculus peroneus brevis 22, tibialis anterior 23 inflation/deflation, further control it flexible, foot can be driven
25 bend and stretch, take down the exhibits, ring turn.
Above-mentioned every muscle is pneumatic muscles, the length of every muscle and its is set with the equal apery body of link position of bone
It puts.
The shape of pelvis imitates human pelvis setting, and is made of metal 3D printing.
The utility model, by controlling the pneumatic muscles of each simulation human muscle, the control of realization apery lower limb pose can
With the action of simulation people's lower limb of dynamic image, and it can realize accurate TRAJECTORY CONTROL, the utility model possesses other gas
The incomparable advantage of dynamic muscle apery lower limb.
Embodiment described above, only the utility model more preferably one kind in specific embodiment, this field
The usual variations and alternatives that technical staff carries out in the range of technical solutions of the utility model should all be included in the utility model
In protection domain.
Claims (4)
1. a kind of apery limbic system based on pneumatic muscles, which is characterized in that the system includes pelvis (1), femur (2), closes
Flesh (3), quadrate muscle of thigh (4), pectineus (5), breviductor (6), great adductor muscle one (7), long adductor muscle (8), gluteus medius one (9), pears in hole
Shape flesh (10), gluteus medius two (11), gluteus maximus (12), iliopsoas (13), biceps muscle of thigh (14), great adductor muscle two (15), semitendinosus
(16), semimembranosus (17), fibula first segment (18), fibula muscle connecting plate (19), musculus soleus one (20), musculus soleus two
(21), musculus peroneus brevis (22), tibialis anterior (23), fibula second segment (24), foot (25)；
Described femur (2) one end is rotatably connected with the pelvis (1), the other end and the fibula first segment (18)
One end is rotatably connected；It is the musculus obturator internus (3), quadrate muscle of thigh (4), pectineus (5), breviductor (6), great adductor muscle one (7), long
Adductor muscle (8), gluteus medius one (9), pyriformis (10), gluteus medius two (11), gluteus maximus (12), iliopsoas (13) both ends can turn
It is connected to dynamicly between the pelvis (1) and the femur (2), is respectively provided with pneumatic operated valve on every muscle, passes through pneumatic operated valve
The inflation/deflation of above-mentioned muscle is controlled, further controls it flexible, driving femur (2) bends and stretches, takes down the exhibits and ring turn；
The other end of the fibula first segment (18) is fixedly connected with the upper surface of the fibula muscle connecting plate (19)；Institute
The biceps muscle of thigh (14) stated, great adductor muscle two (15), semitendinosus (16), semimembranosus (17) both ends be rotatably connected to it is described
Pelvis (1) and fibula muscle connecting plate (19) between, be respectively provided with pneumatic operated valve on every muscle, pass through pneumatic operated valve control stock two
Flesh (14), great adductor muscle two (15), semitendinosus (16), semimembranosus (17) inflation/deflation, driving femur the bending and stretching, take down the exhibits of (2), ring turn
With fibula first segment (18), the bending and stretching of fibula muscle connecting plate (19), take down the exhibits, ring turns；
One end of the fibula second segment (24) is fixedly connected on the lower surface of the fibula muscle connecting plate (19), described
The other end of fibula second segment (24) be rotatably connected with the foot, the fibula muscle connecting plate (19) drives fibula
Second segment (24) bends and stretches, takes down the exhibits, ring turns；
The musculus soleus one (20), musculus soleus two (21), tibialis anterior (23) both ends respectively with the fibula
The lower surface of muscle connecting plate (19), foot (25) are rotatably connected, the both ends of the musculus peroneus brevis (22) respectively with it is described
Fibula second segment (24), foot (25) are rotatably connected；Pneumatic operated valve is all set on every muscle, musculus soleus is controlled by pneumatic operated valve
One (20), musculus soleus two (21), musculus peroneus brevis (22), tibialis anterior (23) inflation/deflation, further control it flexible, driving
The the bending and stretching, take down the exhibits of foot (25), ring turn；
Above-mentioned every muscle is pneumatic muscles, the length of every muscle and its is set with the equal apery body of link position of bone.
2. the apery limbic system according to claim 1 based on pneumatic muscles, the shape apery body bone of the pelvis
Basin is set, and is made of metal 3D printing.
3. the apery limbic system according to claim 2 based on pneumatic muscles, the femur (2) is strip,
It is circumferential there are four face, medial surface, lateral surface, front and back totally four faces, the musculus obturator internus (3), quadrate muscle of thigh (4), shame
Bone flesh (5), breviductor (6), great adductor muscle one (7), long adductor muscle (8) both ends respectively with below the pelvis (1), femur
(2) medial surface is rotatably connected, gluteus medius one (9), gluteus medius two (11) both ends respectively with the lateral surface of pelvis (1),
The lateral surface of femur (2) is rotatably connected, pyriformis (10), gluteus maximus (12) both ends respectively with behind pelvis (1), stock
The lateral surface of bone (2) is rotatably connected, the both ends of iliopsoas (13) respectively by before steel wire rope and pelvis (1), femur (2)
Before be rotatably connected.
4. the apery limbic system based on pneumatic muscles according to claims 1 or 2 or 3, the muscle and pelvis
(1), femur (2), fibula, being rotatably connected for foot (25) are to be connected by steel wire rope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721748922.6U CN207564473U (en) | 2017-12-14 | 2017-12-14 | Apery limbic system based on pneumatic muscles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721748922.6U CN207564473U (en) | 2017-12-14 | 2017-12-14 | Apery limbic system based on pneumatic muscles |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207564473U true CN207564473U (en) | 2018-07-03 |
Family
ID=62688301
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721748922.6U Withdrawn - After Issue CN207564473U (en) | 2017-12-14 | 2017-12-14 | Apery limbic system based on pneumatic muscles |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207564473U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107972013A (en) * | 2017-12-14 | 2018-05-01 | 嘉兴学院 | A kind of apery limbic system based on pneumatic muscles |
| CN110076758A (en) * | 2019-05-23 | 2019-08-02 | 上海大学 | Apery type lower limb exoskeleton configuration method based on hybrid mechanism |
| CN110561457A (en) * | 2019-09-20 | 2019-12-13 | 嘉兴学院 | Humanoid robot system based on air cylinder |
-
2017
- 2017-12-14 CN CN201721748922.6U patent/CN207564473U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107972013A (en) * | 2017-12-14 | 2018-05-01 | 嘉兴学院 | A kind of apery limbic system based on pneumatic muscles |
| CN110076758A (en) * | 2019-05-23 | 2019-08-02 | 上海大学 | Apery type lower limb exoskeleton configuration method based on hybrid mechanism |
| CN110076758B (en) * | 2019-05-23 | 2022-07-12 | 上海大学 | Human-simulated lower limb exoskeleton configuration method based on parallel-serial mechanism |
| CN110561457A (en) * | 2019-09-20 | 2019-12-13 | 嘉兴学院 | Humanoid robot system based on air cylinder |
| CN110561457B (en) * | 2019-09-20 | 2020-05-05 | 嘉兴学院 | Humanoid robot system based on air cylinder |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207564473U (en) | Apery limbic system based on pneumatic muscles | |
| CN108481308A (en) | A kind of human emulated robot based on pneumatic muscles Yu cylinder series-parallel connection | |
| CN105083411B (en) | A kind of apery lower limb of Pneumatic artificial muscle driving | |
| CN206896706U (en) | A kind of multi-trace multidigit posture lower limb rehabilitation robot | |
| CN108453705A (en) | A kind of human emulated robot system based on cylinder | |
| CN106236512B (en) | A kind of gait rehabilitation robot for realizing walking foot pose | |
| CN107822829A (en) | A kind of upper limb rehabilitation robot | |
| CN108544473A (en) | A kind of human emulated robot system based on pneumatic muscles | |
| CN107595550B (en) | Pneumatic muscle-based whole-body exoskeleton rehabilitation system | |
| CN104586603A (en) | Lower limb joint rehabilitation trainer with self-adaptive strength | |
| CN207871461U (en) | Flat is healthy and strong multi-functional assessment instrument | |
| CN107342012B (en) | Based on pneumatic muscles apery waist joint | |
| BRPI0716034A2 (en) | EXERCISE AND CONCENTRIC AND EXERCISE TRAINING APPARATUS AND METHOD | |
| CN102380199A (en) | Breaststroke swimming stroke trainer | |
| CN108656100B (en) | Human emulated robot based on cylinder | |
| CN204864778U (en) | Upper limbs body -building apparatus | |
| Li et al. | Bio-inspired wearable soft upper-limb exoskeleton robot for stroke survivors | |
| CN206597136U (en) | A kind of gait rehabilitation robot for realizing walking foot pose | |
| CN206630838U (en) | The four limbs linkage recovery exercising robot of normal gait track can be achieved | |
| CN107972013A (en) | A kind of apery limbic system based on pneumatic muscles | |
| CN2855467Y (en) | Auxilary appliance for croching training | |
| CN108096806A (en) | A kind of Floating breaststroke training device | |
| CN201832389U (en) | Boxing training model | |
| CN110497387A (en) | The artificial skeleton and muscle framework and its design method of a kind of bionical anthropomorphic robot | |
| CN201304226Y (en) | Forehand attack action training device for table tennis |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20180703 Effective date of abandoning: 20200715 |