CN208729781U - Lower limb exoskeleton servomechanism - Google Patents
Lower limb exoskeleton servomechanism Download PDFInfo
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- CN208729781U CN208729781U CN201821136388.8U CN201821136388U CN208729781U CN 208729781 U CN208729781 U CN 208729781U CN 201821136388 U CN201821136388 U CN 201821136388U CN 208729781 U CN208729781 U CN 208729781U
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Abstract
The utility model provides a kind of lower limb exoskeleton servomechanism, comprising: huckle fastening assembly comprising left thigh fastener and right thigh fastener；Calf fastening assembly, including left leg fastener and right leg fastener；Foot fastening assembly, including left foot portion fastener and right foot fastener；Driving assembly, the negative work that right knee joint generates when including for the swinging both legs drawing force that left knee joint generates when being transferred to the left foot actuator in left foot portion and being used to swing both legs are transferred to the right sufficient actuator of right foot.Left foot actuator absorbs right knee joint back foot part of made drawing force power-assisted left foot when swinging and is lifted up, left foot portion fastener can be with the left leg fastener collective effect, for left ankle-joint power-assisted, to reduce left ankle-joint acting, and torque peak value caused by left ankle-joint is reduced, mitigate the burden of left heel string.It is identical as above-mentioned left foot portion for the action principle of right foot.
Description
Technical field
The utility model belongs to decompression power assisting device technical field more particularly to a kind of lower limb exoskeleton servomechanism.
Background technique
One kind that lower limb exoskeleton servomechanism is equipped as power-assisted, not only assist in walking disorder personage restore and
Improve locomitivity, moreover it is possible to help wearer to save strength, enhance human motion function.Lower limb exoskeleton servomechanism not only may be used
To restore the walking ability of the elderly, moreover it is possible to provide additional power-assisted to rupture of achilles tendon person, therefore have significant Practical significance and
Social value.
The development of existing lower limb exoskeleton servomechanism is active ectoskeleton mostly, on the one hand to human leg fetter compared with
More, power-assisted mode is highly vulnerable to breakage the natural biology mechanical characteristic of human body walking, takes action clumsy after putting on, affects and move freely energy
Power, and human motion poor compatibility, be not appropriate for the elderly or other there is the personage of walking ability obstacle to use；On the other hand
It can also the problems such as limited, motor can bring extra load due to battery durable ability, it is difficult to apply in actual scene.
Utility model content
The purpose of this utility model is to provide a kind of lower limb exoskeleton servomechanisms, it is intended to solve existing lower limb dermoskeleton
Bone servomechanism destroys the technical issues of body mechanics' characteristic and power consumption.
The utility model is realized in this way a kind of lower limb exoskeleton servomechanism, comprising:
Huckle fastening assembly, including for dressing to the left thigh fastener in left thigh portion and for dressing to right big
The right thigh fastener of leg；
Calf fastening assembly, including for dressing to the left leg fastener in left leg portion and for dressing to right small
The right leg fastener of leg；
Foot fastening assembly, including for dressing to the left foot portion fastener in left foot portion and for dressing to right foot
Right foot fastener；
Driving assembly, the left foot that the drawing force that right knee joint generates when including for swinging both legs is transferred to left foot portion are driven
The drawing force that moving part and for swinging both legs when left knee joint generate is transferred to the right sufficient actuator of right foot, the left foot
One end of actuator is arranged in the left leg fastener from the top down and is connected to left foot corresponding with the left foot heel portion
Fastener, the other end of the left foot actuator are fed through the right thigh fastener from the top down and are connected to the right leg
Fastener, the left leg fastener can stay with one's parents in order to make them happy forward swing with right leg and apply to the left foot actuator axial
Drawing force, one end of the right sufficient actuator is arranged in the right leg fastener from the top down and is connected to and right heel portion
The other end of the corresponding right foot fastener, the right sufficient actuator is fed through the left thigh fastener simultaneously from the top down
Be connected to the left leg fastener, the right leg fastener can stay with one's parents in order to make them happy forward swing with left leg and to the right side
Sufficient actuator applies axial drawing force.
The utility model compared with the existing technology have the technical effect that user use the lower limb exoskeleton booster engine
When structure, the huckle fastening assembly is first worn on two huckles, then the calf fastening assembly is worn on two shanks
Then the foot fastening assembly is worn on foot by portion, the left foot due to being connected to left foot portion fastener drives
Part sequentially passes through the left leg fastener and the right thigh fastener and is connected with the right leg fastener, therefore
In the process of walking, right leg is swung forward human body around right knee when right leg steps forward, is applied to the left foot actuator axial
Drawing force, the left foot actuator absorbs right knee joint and negative work made by drawing force and conducts drawing force to a left side when swinging
The back foot part of the rear side of foot fastener, this energy Spontaneous release when left foot pedals ground, power-assisted left foot rotates simultaneously around left ankle-joint
It is lifted up, the left foot palm is gone ahead with pedaling at this time, and left foot portion fastener can be total with the left leg fastener
Same-action is left ankle-joint power-assisted, to reduce left ankle-joint acting, and torque peak value caused by left ankle-joint is subtracted
It is small, mitigate the burden of left heel string.It is identical as above-mentioned left foot portion for the action principle of right foot.
Detailed description of the invention
In order to illustrate more clearly of the technical solution of the utility model embodiment, below will to the utility model embodiment or
Attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, drawings described below is only
Some embodiments of the utility model, for those of ordinary skill in the art, without creative efforts,
It is also possible to obtain other drawings based on these drawings.
Fig. 1 is the stereochemical structure signal that lower limb exoskeleton servomechanism provided by the embodiment of the utility model is dressed in human body
Figure；
Fig. 2 is the connection relationship explosion of the left leg fixed block and the left drive cable and the right drive cable
Figure.
Description of symbols:
11, left thigh fastener；111, left thigh fixed part；112, left thigh fixed block；12, right thigh fastener；
121, right thigh fixed part；122, right thigh fixed block；21, left leg fastener；211, left leg fixed part；2111, upper left
Fastening part；2112, lower-left fastening part；2113, left limit portion；212, left leg fixed block；2121, upper left fixed block；2122, left
Lower fixed block；213, Zuo Tongkong；214, left groove body；2141, left limit slot；2142, left clamping groove；22, right leg fastener；
221, right leg fixed part；2211, upper right fastening part；2212, bottom right fastening part；2213, right limit portion；222, right leg is fixed
Block；31, left foot portion fastener；32, right foot fastener；41, left foot actuator；411, left elastic component；412, left drive cable；
413, left line sheath；42, right sufficient actuator；421, right elastic component；422, right drive cable；423, right line sheath；424, right limit block；
50, waistband；62, right connecting band
Specific embodiment
The embodiments of the present invention are described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning
Same or similar element or element with the same or similar functions are indicated to same or similar label eventually.Below by ginseng
The embodiment for examining attached drawing description is exemplary, it is intended to for explaining the utility model, and should not be understood as to the utility model
Limitation.
In the description of the present invention, it should be understood that term " on ", "lower", "front", "rear", "left", "right" etc.
The orientation or positional relationship of instruction is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description the utility model
It is described with simplifying, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific orientation structure
It makes and operates, therefore should not be understood as limiting the present invention.Before being with human body forward direction in the present invention, it is backwards
Afterwards, left leg position be a left side, right leg position be the right side, crown direction be it is upper, under sole direction is.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " Gu
It is fixed " etc. terms shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be
Mechanical connection, is also possible to be electrically connected；It can be directly connected, two can also be can be indirectly connected through an intermediary
The interaction relationship of connection or two elements inside element.It for the ordinary skill in the art, can basis
Concrete condition understands the concrete meaning of above-mentioned term in the present invention.
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.
Fig. 1 is please referred to, the utility model provides a kind of lower limb exoskeleton servomechanism, including big to user for dressing
The huckle fastening assembly of leg, for dressing to the calf fastening assembly of user's shank, for dressing to user's foot
Foot fastening assembly and for using body mechanics' property driving both legs advance driving assembly.
The huckle fastening assembly includes for dressing to the left thigh fastener 11 in left thigh portion and for dressing
To the right thigh fastener 12 in right thigh portion, the left thigh fastener 11 and the right thigh fastener 12 both preferably can
It adjusts loose and is not easy the bandage slid.
The calf fastening assembly includes for dressing to the left leg fastener 21 in left leg portion and for dressing
To the right leg fastener 22 in right leg portion, the left leg fastener 21 and the right leg fastener 22 both preferably can
It adjusts loose and is not easy the bandage slid.
The foot fastening assembly includes for dressing to the left foot portion fastener 31 in left foot portion and for dressing to the right side
The right foot fastener 32 of foot.Left foot portion fastener 31 preferably has left foot corresponding with the heel portion position of left foot
With fastening part, the right foot fastener 32 preferably has right heel fastening part corresponding with right sufficient heel portion position.Into
Preferably, left foot portion fastener 31 and the right foot fastener 32 are shoe body shape for user's wearing to one step.
The drawing force that right knee joint generates when the driving component includes for swinging both legs is transferred to the left side in left foot portion
The drawing force that sufficient actuator 41 and for swinging both legs when left knee joint generate is transferred to the right sufficient actuator 42 of right foot,
One end of the left foot actuator 41 is arranged in the left leg fastener 21 from the top down and is connected to described and left foot heel
Corresponding left foot portion fastener 31, the other end of the left foot actuator 41 are fed through the right thigh fastener 12 from the top down
And be connected to the right leg fastener 22, the left leg fastener 21 can stay with one's parents in order to make them happy with right leg it is forward swing and it is right
The left foot actuator 41 applies axial drawing force, and it is small that one end of the right sufficient actuator 42 is arranged in the right side from the top down
Leg fastener 22 is simultaneously connected to the right foot fastener 32 corresponding with right heel portion, the other end of the right sufficient actuator 42
It is fed through the left thigh fastener 11 from the top down and is connected to the left leg fastener 21, the right leg fastener 22
It can stay with one's parents in order to make them happy forward swing with left leg and axial drawing force is applied to the right sufficient actuator 42.It is to be appreciated that
The left foot actuator 41 is connected at the heel of left foot portion fastener 31, and the right sufficient actuator 42 is connected to the right side
At the heel of foot fastener 32, the left foot actuator 41 and the right sufficient actuator 42 are preferably with certain rigidity and tough
The rope form of property is to provide axial active force and resistance to lose.
It is big that the huckle fastening assembly is worn on two when using the lower limb exoskeleton servomechanism, first by user
Leg, then the calf fastening assembly is worn on two calfs, the foot fastening assembly is then worn on foot, by
The left leg fastener 21 and institute are sequentially passed through in the left foot actuator 41 for being connected to left foot portion fastener 31
State right thigh fastener 12 and be connected with the right leg fastener 22, thus human body in the process of walking, right leg steps forward
Right leg is swung forward around right knee when out, applies axial drawing force, the left foot actuator 41 to the left foot actuator 41
Right knee joint is absorbed negative work and to conduct drawing force to the rear side of left foot portion fastener 31, this energy made by drawing force when swinging
Amount Spontaneous release, back foot part of power-assisted left foot when left foot pedals ground are rotated and are lifted up around left ankle-joint, and the left foot palm is pedaled at this time
Ground is gone ahead, and left foot portion fastener 31 can be left ankle-joint with 21 collective effect of left leg fastener
Power-assisted to reduce left ankle-joint acting, and reduces torque peak value caused by left ankle-joint, mitigates the negative of left heel string
Load.It is identical as above-mentioned left foot portion for the action principle of right foot.
Fig. 1 is please referred to, in the utility model embodiment, the left foot actuator 41 is tight including being connected to the left foot portion
The left elastic component 411 and one end of firmware 31 are arranged in the left leg fastener 21 from the top down and are connected to the left bullet
Property part 411 and its other end is fed through the right thigh fastener 12 from the top down and is connected to the right leg fastener 22
Left drive cable 412, the right sufficient actuator 42 includes the right elastic component 421 and one end for being connected to right foot fastener 32
It is arranged in the right leg fastener 22 from the top down and is connected to the right elastic component 421 and its other end is worn from the top down
It crosses the left thigh fastener 11 and is connected to the right drive cable 422 of the left leg fastener 21.The left elastic component 411
Done negative work when right leg is swung can be absorbed, the negative work release that the left elastic component 411 is absorbed when pedaling ground, to reduce
Lower limb muscle working when pedaling ground.The left elastic component 411 can also provide axial pretightning force and provide in human walking procedure
Axial buffer power increases reaction time, user's step to increase the reaction duration of the left foot actuator 41 for user
Slowed down, step pitch is widened, and can carry out power-assisted to ankle-joint when releasing energy.The right sufficient actuator 42 it is separate
Effect is identical as the left foot actuator 41, does not repeat herein.The elasticity of left elastic component 411 and the right elastic component 421 is set
Rigidity can be adjusted according to the difference of body mass, to increase power-assisted effect.
Preferably, the left elastic component 411 and the right elastic component 421 are detachable, to be convenient for changing suitable user's
The elastic component of elastic stiffness.The left elastic component 411 and the right elastic component 421 are preferably spring, and spring can be ball
Spring, between rigidity 0N/m~5000N/m.The left drive cable 412 is preferably Bonden line with the right drive cable 422
The cable of (hereinafter referred to as Bowden cable), effectively to control processing cost.
Please refer to Fig. 1, in the utility model embodiment, the left leg fastener 21 include for user dress to
The left leg fixed part 211 in left leg portion and it is connected to the left leg fixed part 211 and for wearing left foot driving
The left leg fixed block 212 of part 41, the right leg fastener 22 include being dressed for user to the right leg in right leg portion
Fixed part 221 and it is connected to the right leg fixed part 221 and the right leg for wearing the right sufficient actuator 42 is fixed
Block 222.The position of the left leg fixed block 212 and the right leg fixed block 222 can be carried out according to the comfort level of user
It adjusts.Preferably, the left leg fixed block 212 is located at the rear side of the left leg fixed part 211, the right leg fixed block
222 are located at the rear side of the right leg fixed part 221, avoid interfering to walk in this way while convenient for providing axial force.
Further, the left foot actuator 41 is connected to the right leg fixed block 222, and the right leg described in this way is being put
The right leg fixed block 222 just can give 41 axial force of left foot actuator when dynamic, so that the left foot drives
Component absorbs right leg and swings the negative work made and be transferred to left foot portion fastener 31；The right sufficient actuator 42 is connected to
The left leg fixed block 212, the left leg described in this way left leg fixed block 212 when swinging just can give the right side
Sufficient 42 axial force of actuator swings the negative work made and is transferred to described so that the right sufficient driving assembly absorbs left leg
Right foot fastener 32.
Fig. 1 is please referred to, in the utility model embodiment, the left leg fastener 21 includes being placed on left leg top
Upper left fastening part 2111, the lower-left fastening part 2112 for being placed on left leg lower part and on rear side of the left leg and it is connected to the left side
The left limit portion 2113 of upper fastening part 2111 and the lower-left fastening part 2112, the right leg fastener 22 are right small including being placed on
It the upper right fastening part 2211 on leg top, the bottom right fastening part 2212 for being placed on right leg lower part and on rear side of the right leg and connects
In the upper right fastening part 2211 and the right limit portion 2213 of the bottom right fastening part 2212.The left limit portion 2113 is connected to
Between upper left fastening part 2111 and lower-left fastening part 2112, play a supporting role.The left leg fastening is worn by user
When part 21, the upper left fastening part 2111 is located on the upside of the gastrocnemius of left leg, and the lower-left fastening part 2112 is located at left leg
Gastrocnemius downside, to guarantee that the left leg fastener 21 is not easy to slide.The right leg fastener 22 and the left side are small
The structure and action principle of leg fastener 21 are similar, do not repeat herein.The left limit portion 2113 and the right limit portion 2213
It can be arc according to human leg's Curve Design, to increase wearing comfort degree.Preferably, the left limit portion 2113 is located at described
The rear lateral portion of left leg, the right limit portion 2213 are located at the rear lateral portion of the right leg, and the left leg fixed block 212 is located at
The left limit portion 2113, the right leg fixed block 222 are located at the right limit portion 2213, just avoid the left drive in this way
Dynamic cable 412 arrives user's calf with the right friction of drive cable 422.
Fig. 1 is please referred to, in the utility model embodiment, the left thigh fastener 11 includes being placed on the left thigh
Left thigh fixed part 111 and it is connected to the left thigh fixed part 111 and a left side for wearing the right sufficient actuator 42 is big
Leg fixed block 112, the right thigh fastener 12 include being placed on the right thigh fixed part 121 of the right thigh and being connected to institute
State right thigh fixed part 121 and the right thigh fixed block 122 for wearing the left foot actuator 41.Preferably, described left big
Leg fixed block 112 is located at the rear side of the left thigh fixed part 111, and it is solid that the right thigh fixed block 122 is located at the right thigh
The rear side in portion 121 is determined, to avoid interfering user to walk about.
Fig. 1 is please referred to, in the utility model embodiment, the driving component further includes being sheathed on positioned at the left leg
The left line sheath 413 of the left drive cable 412 between fixed block 212 and the right thigh fixed block 122 and it is sheathed on position
The right line sheath 423 of the right drive cable 422 between the right leg fixed block 222 and the left thigh fixed block 112.
The left line sheath 413 respectively wraps up the left drive cable 412 with the right drive cable 422 with the right line sheath 423
Come, the left drive cable 412 is able to respectively with the right drive cable 422 in the left line sheath 413 and the right line sheath 423
Middle twitch prevents the exposed left drive cable 412 from abrading physical feeling with the right drive cable 422.
Further, one end of the left line sheath 413 is connected to the left leg fixed block 212 and its other end is connected to
The right thigh fixed block 122, one end of the right line sheath 423 is connected to the right leg fixed block 222 and its other end connects
It is connected to the left thigh fixed block 112.The left line sheath 413 is just avoided in this way to occur to twitch scratch with the right line sheath 423
Body.
Referring to figure 2., in the utility model embodiment, it is preferable that the left leg fixed block 212 includes being connected to institute
It states the lower-left fixed block 2122 of left leg fixed part 211 and is connected to the upper left fixed block of the lower-left fixed block 2122
2121, the lower-left fixed block 2122 has the left through-hole 213 for supplying the left drive cable 412 to pass through and for supplying the right side
The left groove body 214 that drive cable 422 is supported and is clamped, the compacting of upper left fixed block 2121 is in the left line sheath 413 to prevent
The left line sheath 413 is twitched；The right leg fixed block 222 is fixed including being connected to the bottom right of the right leg fixed part 221
Block and the upper right fixed block for being connected to the bottom right fixed block, the bottom right fixed block, which has, supplies the right drive cable 422
The right through-hole passed through and the right groove body for supporting and being clamped for the left drive cable 412, the upper right fixed block compacting
In the right line sheath 423 to prevent the right line sheath 423 from twitching.
Referring to figure 2., it is highly preferred that the left groove body 214 is through to the left leg fixed block 212 perpendicular to the left side
One side on the direction of shank fixed part 211, the left groove body 214 include left limit slot 2141 and left clamping groove 2142,
The slot diameter of the left limit slot 2141 is greater than the slot diameter of the left clamping groove 2142, and correspondingly, the right sufficient actuator 42 also wraps
Include be set to the right drive cable 422 towards the left leg fixed part 211 one end and radical length be greater than the right driving
The right limit block 424 of cable 422, the right drive cable 422 can be laterally clamped into the left clamping groove 2142, described at this time
Right limit block 424 is located in the left limit slot 2141 to limit the right sufficient drive cable and skid off out of described left groove body 214；
The right groove body is through to the right leg fixed block 222 perpendicular to the one side on the direction of the right leg fixed part 221,
The right groove body includes right limit slot and right clamping groove, and the slot diameter of the right limit slot is greater than the slot diameter of the right clamping groove,
Correspondingly, the left foot actuator 41 further includes being set to the left drive cable 412 towards the one of the right leg fixed part 221
End and radical length are greater than the left limit block of the left drive cable 412, and the left drive cable 412 can be laterally clamped into institute
Right clamping groove is stated, the left limit block is located in the right limit slot to limit the left foot drive cable from the right slot at this time
It skids off in vivo.
Further, the left leg fixed block 212 is with the upper left fixed block 2121 towards the left leg fixed part
211 direction is connected to the left leg fixed part 211, and the right leg fixed block 222 is with the upper right fixed block towards institute
The direction for stating right leg fixed part 221 is connected to the right leg fixed part 221.When installation can by the left foot actuator 41 and
The right sufficient actuator 42 again installs the left leg fixed block 212 extremely after being each attached to the left leg fixed block 212
The left leg fixed part 211 has just further prevented the de- of the left foot actuator 41 and the right sufficient actuator 42 in this way
It falls.
Fig. 1 is please referred to, in the utility model embodiment, the lower limb exoskeleton servomechanism further includes for dressing extremely
The waistband 50 of waist and it is connected to the waistband 50 and for limiting the locating part of the driving component radial displacement.The limit
Position part can also limit an axial displacement for line sheath.The waistband 50 is preferably adjustable nylon waistband 50, for stablizing this
Utility model overall structure reinforces power-assisted effect, and fetters the driving component.
Fig. 1 is please referred to, in the utility model embodiment, the lower limb exoskeleton servomechanism further includes for connecting
Waistband 50 is stated with the left connecting band of the left thigh fastener 11 and is fastened for connecting the waistband 50 with the right thigh
The right connecting band 62 of part 12.The left connecting band is for preventing the left thigh fastener 11 from slipping from left thigh portion, the right side
Connecting band 62 is for preventing the right thigh fastener 12 from slipping from right thigh portion.
Preferably, the left thigh fastener 11 and the left leg fastener 21, the right thigh fastener 12 and institute
Stating right leg fastener 22 can be the textile fabrics such as adjustable nylon reinforcing strip.
The utility model application intersects the concept of knee ankle coupling, and it is another that leg kneed negative work collection in side is used for power-assisted
Side ankle-joint, light succinct, pure passive acting is not required to additional energy input.The setting of overall structure moduleization, is conveniently replaceable, and
Formed closed loop, it is compact-sized and have stability, it is applied widely.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Made any modifications, equivalent replacements, and improvements etc., should be included in the utility model within the spirit and principle of utility model
Protection scope within.
Claims (10)
1. a kind of lower limb exoskeleton servomechanism characterized by comprising
Huckle fastening assembly, including for dressing to the left thigh fastener in left thigh portion and for dressing to right thigh portion
Right thigh fastener；
Calf fastening assembly, including for dressing to the left leg fastener in left leg portion and for dressing to right leg portion
Right leg fastener；
Foot fastening assembly, including for dressing to the left foot portion fastener in left foot portion and for dressing to the right foot of right foot
Portion's fastener；
Driving assembly, the drawing force that right knee joint generates when including for swinging both legs are transferred to the left foot actuator in left foot portion
And the drawing force that left knee joint generates when for swinging both legs is transferred to the right sufficient actuator of right foot, the left foot driving
One end of part is arranged in the left leg fastener from the top down and is connected to left foot corresponding with left foot heel portion fastener, institute
The other end for stating left foot actuator is fed through the right thigh fastener from the top down and is connected to the right leg fastener, institute
Forward swing can be stayed with one's parents in order to make them happy with right leg and apply axial drawing force to the left foot actuator by stating left leg fastener,
One end of the right sufficient actuator is arranged in the right leg fastener from the top down and is connected to institute corresponding with right heel portion
Right foot fastener is stated, the other end of the right sufficient actuator is fed through the left thigh fastener from the top down and is connected to institute
State left leg fastener, the right leg fastener can stay with one's parents in order to make them happy forward swing with left leg and to the right sufficient actuator
Apply axial drawing force.
2. lower limb exoskeleton servomechanism as described in claim 1, which is characterized in that the left foot actuator includes being connected to
The left elastic component and one end of left foot portion fastener are arranged in the left leg fastener from the top down and are connected to institute
It states left elastic component and its other end is fed through the right thigh fastener from the top down and is connected to the right leg fastener
Left drive cable, the right sufficient actuator includes that the right elastic component for being connected to right foot fastener and one end are worn from the top down
Set on the right leg fastener and be connected to the right elastic component and its other end to be fed through the left thigh from the top down tight
Firmware and the right drive cable for being connected to the left leg fastener.
3. lower limb exoskeleton servomechanism as claimed in claim 2, which is characterized in that the left leg fastener includes being used for
User dresses to the left leg fixed part in left leg portion and is connected to the left leg fixed part and is used to wear the left side
The left leg fixed block of sufficient actuator, the right leg fastener include that the right leg dressed for user to right leg portion is consolidated
Determine portion and is connected to the right leg fixed part and the right leg fixed block for wearing the right sufficient actuator.
4. lower limb exoskeleton servomechanism as claimed in claim 3, which is characterized in that the left foot actuator is connected to described
Right leg fixed block, the right sufficient actuator are connected to the left leg fixed block.
5. lower limb exoskeleton servomechanism as claimed in claim 3, which is characterized in that the left leg fixed part includes being placed on
The upper left fastening part on left leg top, the lower-left fastening part for being placed on left leg lower part and on rear side of the left leg and it is connected to institute
The left limit portion of upper left fastening part and the lower-left fastening part is stated, the right leg fixed part includes the right side for being placed on right leg top
Upper fastening part, the bottom right fastening part for being placed on right leg lower part and on rear side of the right leg and be connected to the upper right fastening part and
The right limit portion of the bottom right fastening part.
6. such as the described in any item lower limb exoskeleton servomechanisms of claim 3 to 5, which is characterized in that the left thigh fastening
Part includes being placed on the left thigh fixed part in the left thigh portion and being connected to the left thigh fixed part and be used to wear described
The left thigh fixed block of right foot actuator, the right thigh fastener include be placed on the right thigh fixed part in the right thigh portion with
And it is connected to the right thigh fixed part and the right thigh fixed block for wearing the left foot actuator.
7. lower limb exoskeleton servomechanism as claimed in claim 6, which is characterized in that the driving component further includes being sheathed on
It the left line sheath of the left drive cable between the left leg fixed block and the right thigh fixed block and is sheathed on
The right line sheath of the right drive cable between the right leg fixed block and the left thigh fixed block.
8. lower limb exoskeleton servomechanism as claimed in claim 7, which is characterized in that one end of the left line sheath is connected to institute
It states left leg fixed block and its other end is connected to the right thigh fixed block, it is small that one end of the right line sheath is connected to the right side
Leg fixed block and its other end are connected to the left thigh fixed block.
9. such as lower limb exoskeleton servomechanism described in any one of claim 1 to 5, which is characterized in that the lower limb exoskeleton
Servomechanism further includes for dressing to the waistband of waist and being connected to the waistband and for limiting the driving component diameter
To the locating part of displacement.
10. lower limb exoskeleton servomechanism as claimed in claim 9, which is characterized in that the lower limb exoskeleton servomechanism
Further include for connect the waistband and the left connecting band of the left thigh fastener and for connect the waistband with it is described
The right connecting band of right thigh fastener.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821136388.8U CN208729781U (en) | 2018-07-16 | 2018-07-16 | Lower limb exoskeleton servomechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821136388.8U CN208729781U (en) | 2018-07-16 | 2018-07-16 | Lower limb exoskeleton servomechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208729781U true CN208729781U (en) | 2019-04-12 |
Family
ID=66027558
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821136388.8U Expired - Fee Related CN208729781U (en) | 2018-07-16 | 2018-07-16 | Lower limb exoskeleton servomechanism |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110202553A (en) * | 2019-07-05 | 2019-09-06 | 南方科技大学 | A kind of restructural flexible walk-aiding exoskeleton system in power-assisted path |
| CN110328656A (en) * | 2019-08-12 | 2019-10-15 | 河北工业大学 | A kind of flexible exoskeleton power-assisting robot Bowden cable pre-tightening mechanism |
| CN111975747A (en) * | 2020-07-10 | 2020-11-24 | 中国科学院深圳先进技术研究院 | Power-assisted robot |
| CN112828863A (en) * | 2020-12-30 | 2021-05-25 | 北方工业大学 | Rigid-flexible hybrid lower limb assisting device and assisting method for extravehicular suit |
| CN113618714A (en) * | 2021-08-12 | 2021-11-09 | 华南理工大学 | Lower limb passive exoskeleton device for assisting walking and running |
| CN114404229A (en) * | 2021-12-31 | 2022-04-29 | 华南理工大学 | Flexible wearable object actuator for lower limb rehabilitation |
| CN115120472A (en) * | 2022-06-16 | 2022-09-30 | 华中科技大学 | Lower limb purely passive exoskeleton device based on energy trans-joint transfer |
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2018
- 2018-07-16 CN CN201821136388.8U patent/CN208729781U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110202553A (en) * | 2019-07-05 | 2019-09-06 | 南方科技大学 | A kind of restructural flexible walk-aiding exoskeleton system in power-assisted path |
| CN110328656A (en) * | 2019-08-12 | 2019-10-15 | 河北工业大学 | A kind of flexible exoskeleton power-assisting robot Bowden cable pre-tightening mechanism |
| CN110328656B (en) * | 2019-08-12 | 2024-04-12 | 河北工业大学 | Bowden wire pre-tightening mechanism of flexible exoskeleton power-assisted robot |
| CN111975747A (en) * | 2020-07-10 | 2020-11-24 | 中国科学院深圳先进技术研究院 | Power-assisted robot |
| CN112828863A (en) * | 2020-12-30 | 2021-05-25 | 北方工业大学 | Rigid-flexible hybrid lower limb assisting device and assisting method for extravehicular suit |
| CN113618714A (en) * | 2021-08-12 | 2021-11-09 | 华南理工大学 | Lower limb passive exoskeleton device for assisting walking and running |
| CN113618714B (en) * | 2021-08-12 | 2023-06-16 | 华南理工大学 | Lower limb passive exoskeleton device assisting walking and running |
| CN114404229A (en) * | 2021-12-31 | 2022-04-29 | 华南理工大学 | Flexible wearable object actuator for lower limb rehabilitation |
| CN115120472A (en) * | 2022-06-16 | 2022-09-30 | 华中科技大学 | Lower limb purely passive exoskeleton device based on energy trans-joint transfer |
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