CN208525353U - It is a kind of based on energy-optimised lower limb exoskeleton ankle device - Google Patents
It is a kind of based on energy-optimised lower limb exoskeleton ankle device Download PDFInfo
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- CN208525353U CN208525353U CN201820301296.4U CN201820301296U CN208525353U CN 208525353 U CN208525353 U CN 208525353U CN 201820301296 U CN201820301296 U CN 201820301296U CN 208525353 U CN208525353 U CN 208525353U
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Abstract
The utility model discloses a kind of based on energy-optimised lower limb exoskeleton ankle device, including sequentially connected shank ectoskeleton module, ankle module, sole module；Stored energy buffering device is formed by leaf spring and damper, the energy of storage in due course and release vola and ground shock, reduces the running energy consumption of lower limb exoskeleton ankle-joint, and have the effect of bumper and absorbing shock in the process of walking；The rigidity of leaf spring is adjustable, realizes energy-optimised in walking process；Shank ectoskeleton module adjusts height by adjusting rod, can satisfy the needs of different crowd, applicability is good；In addition, the control mode of device is the Shared control technology based on force feedback, keep the operation of lower limb exoskeleton ankle-joint more steady.It can be good at being applied to recovery exercising robot, reduce power consumption, improve applicability, there is great application value.
Description
Technical field
The utility model relates to a kind of recovery exercising robots more particularly to a kind of based on energy-optimised lower limb exoskeleton
Ankle device.
Background technique
Wearable lower limb exoskeleton robot can provide the function such as power-assisted, protection, body-support for the lower limb of people
Can, merged the robot technology such as sensing, control, acquisition of information, mobile computing, be it is a kind of can be in the unconscious control of operator
System is lower to complete the function of assisted walk etc. and the human-machine system of task.And current lower limb exoskeleton robot still faces
Problems.Such as: since wearer will receive the impact force on ground in the moment that foot lands, and cause wearing comfort compared with
Difference, while also will affect the gait of wearer.
Since the foot of wearer is released waste in the energy for landing moment, cause capacity usage ratio very low, whole device
It consumes energy more.Currently, the device that can not solve these problems rationally still.
Utility model content
The purpose of the utility model is to provide a kind of based on energy-optimised lower limb exoskeleton ankle device.
The purpose of this utility model is achieved through the following technical solutions:
The utility model based on energy-optimised lower limb exoskeleton ankle device, including sequentially connected shank dermoskeleton
Bone module, ankle module, sole module；
The shank ectoskeleton module include shank link one, connection motor connection lever, protection link block, shank link two,
Shank guard bar, connection bolt, shank link three, adjusting rod, shank link four, shank bandage device, damper attachment device；
The ankle module includes damper, ankle strap device, ankle connecting rod；
The sole module includes coaming plate on foot, force transducer for sole of foot, leaf spring lower sheeting, presses on leaf spring
Coaming plate, bearing (ball) cover, I-shaped connecting rod one, I-shaped connecting rod two, angular contact ball bearing, rigidity under piece, spring mounting plate, foot
Adjust motor；
The damper is connect by the damper attachment device with the shank link four, the damper with it is described
The connection of ankle connecting rod, the ankle connecting rod are connect with coaming plate on the foot.
It is provided by the embodiment of the utility model it can be seen from above-mentioned technical solution provided by the utility model to be based on energy
The lower limb exoskeleton ankle device of optimization forms stored energy buffering device by leaf spring and damper, in the process of walking
The energy of storage in due course and release vola and ground shock, reduces the running energy consumption of lower limb exoskeleton ankle-joint, and have
There is the effect of bumper and absorbing shock；Height is adjusted by adjusting rod, can satisfy the needs of different crowd, applicability is good.It can be fine
Be applied to recovery exercising robot, reduce power consumption, improve applicability, have great application value.
Detailed description of the invention
Fig. 1 is the whole knot provided by the embodiment of the utility model based on energy-optimised lower limb exoskeleton ankle device
Structure schematic diagram；
Fig. 2 is that the axis provided by the embodiment of the utility model based on energy-optimised lower limb exoskeleton ankle device measures
It is intended to；
Fig. 3 is the structural schematic diagram of height adjustment device in the utility model embodiment；
Fig. 4 is the structural schematic diagram of energy buffer device in the utility model embodiment；
Fig. 5 is the structural schematic diagram of ankle bottom plate in the utility model embodiment；
Fig. 6 is the structural schematic diagram of spring variation rigidity in the utility model embodiment；
Fig. 7 is the schematic illustration of the utility model embodiment；
Fig. 8 is the optimization algorithm flow chart of the utility model embodiment.
In figure:
1 is shank link one, and 2 be connection motor connection lever, and 3 be protection link block, and 4 be shank link two, and 5 protect for shank
Bar, 6 be connection bolt, and 7 be tabletting on leaf spring, and 8 be leaf spring, and 9 be shank link three, and 10 be adjusting rod, and 11 be small
Leg bandage device, 12 be shank link four, and 13 be damper, and 14 be ankle strap device, and 15 be damper attachment device, and 16 are
Coaming plate on foot, 17 be force transducer for sole of foot, and 18 be leaf spring lower sheeting, and 19 be spring mounting plate, and 20 be coaming plate under foot,
21 be ankle connecting rod, and 22 be I-shaped connecting rod one, and 23 be bearing (ball) cover, 24 I-shaped connecting rods two, and 25 be angular contact ball bearing, 26
It is gear for stiffness tuning motor, 27.
Specific embodiment
The utility model embodiment will be described in further detail below.Do not make in the utility model embodiment in detail
The content of description belongs to the prior art well known to professional and technical personnel in the field.
The utility model based on energy-optimised lower limb exoskeleton ankle device, preferable specific embodiment
It is:
Including sequentially connected shank ectoskeleton module, ankle module, sole module；
The shank ectoskeleton module include shank link one, connection motor connection lever, protection link block, shank link two,
Shank guard bar, connection bolt, shank link three, adjusting rod, shank link four, shank bandage device, damper attachment device；
The ankle module includes damper, ankle strap device, ankle connecting rod；
The sole module includes coaming plate on foot, force transducer for sole of foot, leaf spring lower sheeting, presses on leaf spring
Coaming plate, bearing (ball) cover, I-shaped connecting rod one, I-shaped connecting rod two, angular contact ball bearing, rigidity under piece, spring mounting plate, foot
Adjust motor；
The damper is connect by the damper attachment device with the shank link four, the damper with it is described
The connection of ankle connecting rod, the ankle connecting rod are connect with coaming plate on the foot.
Coaming plate is connect with spring mounting plate by I-shaped connecting rod under the foot, and installs angular contact ball axis in connecting portion
It holds and fixation, the stiffness tuning is bolted in bearing (ball) cover, leaf spring lower sheeting two sides and spring mounting plate
Motor is connected with leaf spring lower sheeting, and the leaf spring lower part is equipped with rack gear, the output shaft of rack gear and stiffness tuning motor
It is connected.
Coaming plate is connected by screw to fixed installation under coaming plate, foot on the force transducer for sole of foot and foot.
Screw is connected and fixed leaf spring respectively with tabletting on the leaf spring lower sheeting, leaf spring, while steel plate
Tabletting and the upper end of the ankle connecting rod are bolted on spring.
The outer ring of the stiffness tuning motor is connected with spring mounting plate, and inner ring output shaft is connect with gear, gear with
The tooth of leaf spring lower part is meshed.
Shank link one, adjusting rod, shank link four on the inside of the shank ectoskeleton are bolted connection respectively,
Fastening is bolted in the shank guard bar and shank link two, protection link block.
The ankle strap device is fixed by bolts on ankle connecting rod.
The utility model based on energy-optimised lower limb exoskeleton ankle device, the apparatus structure is compact, light weight,
It is low in energy consumption, it can be good at the application demand for meeting lower limb exoskeleton recovery exercising robot；The calf module height energy of device
It is enough freely adjusted by adjusting rod, to enable devices to be suitable for most of crowds；There are damper and bullet in device design
Property energy storage device, has the effect of bumper and absorbing shock, and when walking, can store and discharge vola and ground shock in due course
Energy reduces the running energy consumption of lower limb exoskeleton ankle-joint；The rigidity of stored energy buffering device is adjustable, realizes walking
In the process energy-optimised；In addition, the control mode of device is the Shared control technology based on force feedback, make lower limb exoskeleton ankle
Joint operation is more steady.Through examining, can be good at being applied to health based on energy-optimised lower limb exoskeleton ankle device
Multiple image training robot, reduces power consumption, improves applicability, has great application value.
The advantages of the utility model and good effect are as follows:
1, the utility model uses multi-objective optimization design of power method, develops a kind of based on energy-optimised lower limb exoskeleton
Ankle device, it is compact-sized, light weight, low in energy consumption, it can satisfy the application demand of lower limb exoskeleton recovery exercising robot.
2, the utility model uses the Shared control technology based on force feedback, can accurately reflect patient's gait, and pass through
Relationship between control force and gait carries out feedback control, keeps the operation of lower limb exoskeleton ankle-joint more steady.
3, the utility model has damper and elastic energy storage device, when walking storage in due course and release vola and ground
The energy of impact reduces the running energy consumption of lower limb exoskeleton ankle-joint, and has the effect of bumper and absorbing shock.
4, the elastic energy storage device rigidity of the utility model is adjustable, can be according to the difference and walking step state of user not
Together, required elastic energy storage device rigidity is adjusted, energy-optimised function is further improved.
5, the utility model can freely adjust calf module height, thus enable devices to be used in most of crowds,
With wide applicability.
Specific embodiment:
The utility model is described in further detail with reference to the accompanying drawing.
As shown in Figure 1, including shank link 1, connection motor connection lever 2, protection link block 3, shank link 24, shank
Guard bar 5, connection bolt 6, shank link 39, adjusting rod 10, shank link 4 12, shank bandage device 11, damper connection
Shank ectoskeleton module described in device 15 drives human calf's fortune for the fixation to human calf, and by the driving of motor
It is dynamic.Damper 13, ankle strap device 14, ankle connecting rod 21 are installed in ankle module, for connecting shank and sole,
In damper foot landing moment when can buffer walking impact, keep walking process more smooth；The sole module includes
Coaming plate 20, angular contact ball under coaming plate 16, force transducer for sole of foot 17, leaf spring tabletting 18, spring mounting plate 19, foot on foot
Bearing 25, bearing (ball) cover 23, I-shaped connecting rod 1, I-shaped connecting rod 2 24.
As shown in Figure 1,5, a kind of based on energy-optimised lower limb exoskeleton ankle device, coaming plate 20 and bullet under foot
Spring mounting plate 19 is connected by I-shaped connecting rod, and by installation angular contact ball bearing and bearing (ball) cover, seeing the two can occur relatively
Rotation.Fixation, stiffness tuning motor 26 and steel plate is bolted in 18 two sides of leaf spring lower sheeting and spring mounting plate 19
Spring downward piece 18 is connected, and 8 lower part of leaf spring is equipped with rack gear, and rack gear is connected with the output shaft of stiffness tuning motor 26.
As shown in Fig. 1,4, described is a kind of based on energy-optimised lower limb exoskeleton ankle device, vola power sensing
Coaming plate 20 is connected by screw to fixed installation under coaming plate 16, foot on device 17 and foot.It is measured by force transducer for sole of foot 17
Vola power can reflect out patient's morbid state gait, while the lower limbs rehabilitation training robot walking based on vola force feedback is stablized
Control and Shared control etc. all need to carry out using vola power.
As shown in Figure 1, a kind of based on energy-optimised lower limb exoskeleton ankle device, shank ectoskeleton module and foot
It is mounted with damper 13 between ankle module, is bolted with ankle connecting rod 21, shank link 4 12.Damper 13 is for buffering foot
Impact force when bottom is landed, and the vibration generated due to impact is reduced, improve the ride comfort of device in use.
As shown in Figure 1, 2, described a kind of based on energy-optimised lower limb exoskeleton ankle device, leaf spring 8
It is connected and fixed with 7 screw of tabletting on leaf spring lower sheeting 18, leaf spring, while tabletting 7 and ankle connecting rod on leaf spring
21 upper ends are bolted fastening.When vola landing, leaf spring 8 is compressed, and the impact energy on ground is stored；When vola is left
When ground, leaf spring 8 relies on restoring force, the energy stored before is discharged, to reduce the energy consumption of walking.Not only can
Amount optimization, may also reach up the effect of bumper and absorbing shock.Effective length of the adjustable leaf spring 8 of rotation of stiffness tuning motor 26
Degree, to realize the function of ankle-joint stiffness variable.
As shown in Figure 1,3, a kind of based on energy-optimised lower limb exoskeleton ankle device, on the inside of shank ectoskeleton
Shank link 1, adjusting rod 10, shank link 4 12 are bolted connection respectively, pass through control shank link 1, small
Leg connecting rod 4 12 is inserted into the relative length of adjusting rod 10, thus the calf module height of regulating device.And on the inside of shank ectoskeleton
Shank link 24 and shank link three (9) relative displacement also adjustable device calf module height, to make device
It can be suitable for most of crowds.
As shown in Figure 1,3, a kind of based on energy-optimised lower limb exoskeleton ankle device, in shank ectoskeleton module
Shank guard bar 5 and shank link 24, protection link block 3 fastening is bolted, play the fixed work for protecting shank
With.Shank bandage device 11, which is bolted, to be fixed on adjusting rod 10, after installing bandage, takes equipment more comfortably with shank
Note also plays the role of safeguard protection.Ankle strap device 14 is fixed by bolts on ankle connecting rod 21, and installing can be with after bandage
Protect ankle, more preferable object wearing device.
As shown in Figure 2,6, a kind of based on energy-optimised lower limb exoskeleton ankle device, stiffness tuning motor 26
Outer ring is connected with spring mounting plate 19, and inner ring output shaft is connect with gear 27, and gear 27 and the tooth of 8 lower part of leaf spring are mutually nibbled
It closes.Torque is transmitted by the output shaft of motor, gear 27 is rotated, drives 8 rack gear of leaf spring to be moved forward and backward, to change foot
The access length of bottom leaf spring 8, and then change the rigidity of leaf spring 8.
Working principle:
As shown in fig. 7, after people is worn by the device, due to self gravity can be downward to coaming plate 16 on vola power F, lead to
It crosses on spring tabletting and power is applied to 8 top of leaf spring, the leaf spring 8 being mounted on leaf spring mounting plate 19 is by squeezing
Pressure, to provide the effect of buffering accumulated energy.By 26 rotation providing torque T of stiffness tuning motor, band moving gear 27 rotates, thus
Change the access length X of leaf spring 8 being engaged with, when for example figure rotates clockwise rigid spring motor, leaf spring to
It moves left, spring rate becomes smaller, and when rigid spring motor is as schemed rotation counterclockwise, leaf spring moves right, spring rate
Become larger.By the rigidity of adjustment spring, the walking mode of energetic optimum is provided for wearer.
To be that this patent carries out energy-optimised thought as follows:
After patient is worn by device walking, the access for changing leaf spring by the rotation of stiffness tuning motor is long
Degree, to change the rigidity of leaf spring, while the power for recording corresponding knee joint motor under the conditions of different spring rates disappears
Consumption.After obtaining multiple groups experimental data, the optimization of energy when being walked by using the CMA-ES program on industrial personal computer.This patent
By using CMA-ES algorithm, spring stiffness optimal when walking is found, energy consumption when user being allowed to walk is minimum.
It is that this patent carries out energy-optimised algorithm as follows --- the specific steps of CMA-ES algorithm:
1. parameter setting and initialization.Static parameter: filial generation number λ, parent individuality number μ, general μ < λ, greatest iteration
Number G recombinates weight ω i=1,2 ..., μ, and required related constant when adaptive adjustment.Dynamic parameter: Solve problems
Dimension N, initial overall situation step-length σ(0)∈R+, initial distribution mean value m(0)∈RN, initial evolutionary approachesInitially
Covariance matrix C(0)=I ∈ RN×N, initial evolutionary generation g(0)=0.
2. population samples.It is as follows to sample formula:
WhereinIt is k-th individual of the g+1 for population, m(g)It is the Species structure mean value in g generation, σ(g)It is g generation
The distribution step-length of population, C(g)It is covariance matrix of the g for Species structure.The data of the first generation be by the λ group that randomly selects not
With leaf spring access length (control law) and the knee joint power of motor array that measures of experiment at.
3. evaluation and selection.The ranking for corresponding to knee joint power of motor size according to different leaf springs access length is suitable
Sequence is selected preferablyA control law is as male parent.
4. parameter updates.Using male parent, the parameter values such as mean value, covariance matrix, dynamic step length are adjusted.
Mean value computation formula:
Wherein(ω1> ω2> ... > ωμ),It is the individual of fitness ranking i-th,
It is as follows that covariance matrix adaptively adjusts formula:
Wherein
ccIt is pcRenewal learning efficiency, hσFor Heaviside function.For controlling | | pc| | excessive growth, μeffIt is effective for variance
Select quality, δ (hσ)=(1-hσ)cc(2-cc)
Global step size controlling is as follows:
Wherein c σ is pσRenewal learning rate, dσIt is close to 1 damped coefficient, E (| | N (0, I) | |) it is that normalization is evolved
Desired length of the path under random selection.
5. evaluating when all individuals of former generation, optimal solution is selected, meets the condition of convergence and then exits calculating, current spring
Stiffness optimal solution is globally optimal solution, otherwise returns to the and 2. walks.
Optimization algorithm flow chart is as shown in Figure 8.
The preferable specific embodiment of the above, only the utility model, but the protection scope of the utility model is not
It is confined to this, anyone skilled in the art can readily occur in the technical scope that the utility model discloses
Change or replacement, should be covered within the scope of the utility model.Therefore, the protection scope of the utility model should
Subject to the scope of protection of the claims.
Claims (7)
1. a kind of based on energy-optimised lower limb exoskeleton ankle device, it is characterised in that: outside including sequentially connected shank
Bone module, ankle module, sole module；
The shank ectoskeleton module includes shank link one (1), connection motor connection lever (2), protection link block (3), shank company
It is bar two (4), shank guard bar (5), connection bolt (6), shank link three (9), adjusting rod (10), shank link four (12), small
Leg bandage device (11), damper attachment device (15)；
The ankle module includes damper (13), ankle strap device (14), ankle connecting rod (21)；
The sole module includes coaming plate on foot (16), force transducer for sole of foot (17), leaf spring lower sheeting (18), steel plate bullet
Coaming plate (20), bearing (ball) cover (23), I-shaped connecting rod one (22), I-shaped under tabletting (7), spring mounting plate (19), foot on spring
Type connecting rod two (24), angular contact ball bearing (25), stiffness tuning motor (26)；
The damper (13) is connect by the damper attachment device (15) with the shank link four (12), the damping
Device (13) is connect with the ankle connecting rod (21), and the ankle connecting rod (21) connect with coaming plate (16) on the foot.
2. according to claim 1 based on energy-optimised lower limb exoskeleton ankle device, it is characterised in that: the foot
Subordinate's coaming plate (20) is connect with spring mounting plate (19) by I-shaped connecting rod, and installs angular contact ball bearing (25) in connecting portion
With bearing (ball) cover (23), fixation is bolted in leaf spring lower sheeting (18) two sides and spring mounting plate (19), institute
Stiffness tuning motor (26) is stated to be connected with leaf spring lower sheeting (18), leaf spring (8) lower part be equipped with rack gear, rack gear with
The output shaft of stiffness tuning motor (26) is connected.
3. according to claim 2 based on energy-optimised lower limb exoskeleton ankle device, it is characterised in that: the foot
Coaming plate (20) is connected by screw to fixed installation under coaming plate (16), foot on bottom force snesor (17) and foot.
4. according to claim 2 based on energy-optimised lower limb exoskeleton ankle device, it is characterised in that: steel plate bullet
Screw is connected and fixed spring (8) respectively with tabletting (7) on the leaf spring lower sheeting (18), leaf spring, while leaf spring
The upper end of upper tabletting (7) and the ankle connecting rod (21) is bolted.
5. according to claim 4 based on energy-optimised lower limb exoskeleton ankle device, it is characterised in that: described rigid
The outer ring that degree adjusts motor (26) is connected with spring mounting plate (19), and inner ring output shaft is connect with gear (27), gear (27)
It is meshed with the tooth of leaf spring (8) lower part.
6. according to claim 1 based on energy-optimised lower limb exoskeleton ankle device, it is characterised in that: described small
Shank link one (1), adjusting rod (10), shank link four (12) on the inside of leg ectoskeleton are bolted connection respectively, institute
It states shank guard bar (5) and fastening is bolted in shank link two (4), protection link block (3).
7. according to claim 1 based on energy-optimised lower limb exoskeleton ankle device, it is characterised in that: the foot
Ankle bandage device (14) is fixed by bolts on ankle connecting rod (21).
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108309704A (en) * | 2018-03-05 | 2018-07-24 | 中国科学技术大学 | It is a kind of based on energy-optimised lower limb exoskeleton ankle device |
| CN110327188A (en) * | 2019-07-25 | 2019-10-15 | 上海市第六人民医院 | Active loading by lower limbs walking compensator |
| CN111823217A (en) * | 2020-08-03 | 2020-10-27 | 大连理工大学 | Variable-rigidity lower limb exoskeleton robot based on shape memory alloy |
-
2018
- 2018-03-05 CN CN201820301296.4U patent/CN208525353U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108309704A (en) * | 2018-03-05 | 2018-07-24 | 中国科学技术大学 | It is a kind of based on energy-optimised lower limb exoskeleton ankle device |
| CN108309704B (en) * | 2018-03-05 | 2023-08-29 | 中国科学技术大学 | Lower limb exoskeleton ankle joint device based on energy optimization |
| CN110327188A (en) * | 2019-07-25 | 2019-10-15 | 上海市第六人民医院 | Active loading by lower limbs walking compensator |
| CN111823217A (en) * | 2020-08-03 | 2020-10-27 | 大连理工大学 | Variable-rigidity lower limb exoskeleton robot based on shape memory alloy |
| CN111823217B (en) * | 2020-08-03 | 2022-01-04 | 大连理工大学 | Variable-rigidity lower limb exoskeleton robot based on shape memory alloy |
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