CN209270231U - A kind of novel lower limb mechano-electronic ectoskeleton and its complex control system - Google Patents
A kind of novel lower limb mechano-electronic ectoskeleton and its complex control system Download PDFInfo
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- CN209270231U CN209270231U CN201721211631.3U CN201721211631U CN209270231U CN 209270231 U CN209270231 U CN 209270231U CN 201721211631 U CN201721211631 U CN 201721211631U CN 209270231 U CN209270231 U CN 209270231U
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Abstract
The utility model relates to a kind of novel lower limb mechano-electronic ectoskeleton and its complex control system, it is technically characterized by comprising the steps as follows: including gravity center adjuster, multiple electric mechanical joints, multiple connecting rods, multiple ectoskeletons, the fixed shoes of foot and plantar pressure sensors；The gravity center adjuster is mounted in waist connecting rod, and the waist connecting rod, hip electric mechanical joint, thigh ectoskeleton, thigh connecting rod, knee electric mechanical joint, shank ectoskeleton, shank connecting rod, ankle electric mechanical joint are sequentially connected and connect；Electric mechanical is intra-articular to be equipped with joint angles and damping sensor and drives generation movement by corresponding joint mechanical actuation device.The utility model is designed reasonably, various movements can accurately be incuded and realize respective control function accordingly, meanwhile, it is balanced by gravity center adjuster adjust automatically lower limb, the stability and reliability for guaranteeing walking can efficiently solve the slow problem of the rehabilitation efficacy of lower limb function forfeiture patient.
Description
Technical field
The utility model belongs to Electrophysiology technical field, especially a kind of novel lower limb mechano-electronic ectoskeleton and its
Complex control system.
Background technique
Many scientific research institutions, the world and company are all in the products such as research and development mechanical exoskeleton, mechanical prosthetic limb, these products at present
The activity of people's limb assisting or the limb rehabilitating of limbs disturbance are helped, these products are all made of electric based on muscle is read at present
The mode of signal, electronic sensor signals or module drives mechanical part, and this mode is only applicable to part population, as limbs lack
The crowd that mistake or peripheral nerve are damaged, but it is inclined as caused by cerebrovascular disease to be not particularly suited for the impaired crowd of maincenter conduction path
The patients such as paralysed patient, high paraplegia patient, motor neuron disease (amyotrophic lateral sclerosis).This kind of product can not establish two-way nerve with brain
Feedback network cannot achieve the full bionic function of class brain.There are also the mechanical exoskeleton driven based on EEG signals correlations at present
Patent or product, this kind of product are used as based on Steady State Visual Evoked Potential (Visual evoked potentail, SSVEP) and are set
Standby control core, but SSVEP confined condition is very more: (1) objective factor include: entire Optic nerve pathway any one have
Lesion all can cause the equipment not to be available.Such as common near-sighted long sight, astigmatism, glaucoma, cataract, a variety of causes cause
Diplopia, fundus hemorrhage, ocular fundus arteriosclerosis, macular degeneration, papilloedema, optic atrophy and disease caused by a variety of causes
Become, optic nerve demyelinate, intracranial tumors compressing optic nerve or optic chiasma, a variety of lesions of encephalic involve optic nerve conduction path
(such as most common cerebral infarction or cerebral hemorrhage disease), visual cortex lesion such as occipital Lobe Infarction bleeding etc., can all make the equipment without
Method uses.In addition, dominating the oculomotor nerve of extraocular muscle, trochlear nerve and abducent nerve, any one nerve is because of any reason
It is impaired, the equipment can be made not to be available, and these diseases exactly clinical very common disease.(2) subjective factor includes:
The VEP detection method generally acknowledged in the world at present is that subject watches the black and white lattice chessboard constantly overturn, so that pathways for vision be made to produce
Raw signal, it is whether unobstructed to detect pathways for vision, but this visual evoked potential producing method obviously can not be used to control limbs
Movement.Therefore subject will generate visual evoked potential effective, that guidance effect can be generated to motor function, and needing can produce
The generally acknowledged scheme for having international standard of raw visual evoked potential, scheme is inconsistent, and it is multifarious to will lead to result, hardly results in
Generally acknowledge.The vision current potential of the equipment generates scheme, approves without extensive clinical trial and profession, availability and replicability
Still unknowable, the above two o'clock reason, leading to the equipment use scope, significantly limited and reliability can not be inferred.
Walking upright is the most basic physiological function of the mankind, some diseases such as: cerebrovascular disease, spinal cord disease, peripheral nerve
Disease and muscle disease etc. cause people's hemiplegia, paraplegia or muscular strength insufficient, to influence people's normal walking function.Lower limb early stage strength
And the rehabilitation training of gait is with regard to particularly important.But it there is problem in mechanism for lower limb function rehabilitation resonable refer at present, under
The forfeiture of limb function is to be caused due to central nervous system loop by damage, and simultaneously there is no problem for lower limb itself, and current health
Multiple measure leads to the actual effect of neural rehabilitation very without any exception focusing on lower limb sheet
Difference.In addition current lower limb rehabilitation device and training and measure are fewer, and method is again relatively simple, can not carry out true upright row in early days
The strength and gait training walked；And rehabilitation teacher chirismus rehabilitation treatment shortage duration, systematicness and validity, patient it is autonomous
Rehabilitation training often because effect slowly due to make patient lose rehabilitation confidence and abandon early.
Utility model content
The purpose of this utility model is that in place of making up the deficiencies in the prior art, provide outside a kind of novel lower limb mechano-electronic
Bone and its complex control system solve the problems, such as that the rehabilitation efficacy of lower limb function forfeiture patient is slow.
The utility model solves its technical problem and adopts the following technical solutions to achieve:
A kind of novel lower limb mechano-electronic ectoskeleton, including gravity center adjuster, hip electric mechanical joint, knee electronics
Mechanical joint, ankle electric mechanical joint, waist connecting rod, thigh connecting rod, shank connecting rod, thigh ectoskeleton, outside shank
The fixed shoes of bone, foot and plantar pressure sensors；The gravity center adjuster is mounted in waist connecting rod, the waist connection
Bar, hip electric mechanical joint, thigh ectoskeleton, thigh connecting rod, knee electric mechanical joint, shank ectoskeleton, shank connect
Extension bar, ankle electric mechanical joint are sequentially connected and connect；The fixed shoes of the foot are connect with ankle electric mechanical joint, the vola
Sensor is mounted on the bottom of the fixed shoes of foot；Above-mentioned electric mechanical is intra-articular to be equipped with joint angles and damping sensor and leads to
Cross corresponding joint mechanical actuation device driving generation movement.
The gravity center adjuster is by U-shaped hollow tubing conductor, two moveable counter weight blocks, driving wheel, shaft, motor and friction
Wheel is constituted；The U-shaped hollow tubing conductor two sides lower end is installed together with waist connecting rod, and moveable counter weight block surface has more
A driving wheel is simultaneously mounted in shaft, has multiple motors to drive friction wheel from rotation inside moveable counter weight block, which drives
Driving wheel rotation is to make moveable counter weight block move in U-shaped hollow tubing conductor.
Fixing strap of waist is respectively equipped on the gravity center adjuster, thigh ectoskeleton and shank ectoskeleton, thigh is fixed
Band and small leg restraint webbing.
The waist connecting rod, thigh connecting rod, shank connecting rod are to be telescopically connected to bar.
The plantar pressure sensors are plantar pressure and temperature sensor.
A kind of complex control system of novel lower limb mechano-electronic ectoskeleton, by novel lower limb mechano-electronic ectoskeleton and on
Position equipment connects and composes, and the upper equipment includes multi-functional human brain computer interface unit and kinaesthesis control device, institute
It states novel lower limb mechano-electronic ectoskeleton and is connected by kinaesthesis control device with multi-functional human brain computer interface unit,
The kinaesthesis control device is mounted on novel lower limb mechano-electronic ectoskeleton, and multi-functional human brain computer interface unit is worn
It is worn over head.
The multi-functional human brain computer interface unit includes stereotaxis magnetic head arrays and ultra micro scalp electrode array, institute
It states stereotaxis magnetic head arrays and is located at scalp surface corresponding to cerebral cortex somatesthesia maincenter for somatesthesia maincenter
It is passed to artificial sensory signal, the ultra micro scalp electrode array is located at scalp surface corresponding to cerebral cortex somatic movement maincenter
For acquire somatic movement maincenter generation electric signal, the ultra micro scalp electrode array successively with signal amplifier, analog-to-digital conversion
Device and signal transmission device are connected.
The kinaesthesis control device includes feeling administrative unit and lower extremity movement administrative unit；
The feeling administrative unit is controlled single by artificial sensory system centralized control unit, magnetic field Stereo-control coil
Member and pulsed magnetic field coil control unit connect and compose；It is mechanical that the artificial sensory system centralized control unit receives novel lower limb
Multiple groups joint angles and the real-time data information of damping sensor, pressure sensor, temperature sensor in electronics ectoskeleton, will
The signal of Adult Human Brain identifiable deep sensory and superficial sensibility is integrated, encoded to these data, and encoded information and control are referred to
Order sends magnetic field Stereo-control coil control unit and pulsed magnetic field coil control unit to, in magnetic field Stereo-control
Under the driving of coil control unit and pulsed magnetic field coil control unit, stereotaxis magnetic head arrays are to cerebral cortex somatesthesia
Maincenter issues the pulsed magnetic field signal that can be interpreted by brain；
The lower extremity movement administrative unit includes multiple channel mechanical drive set controller, EEG signals solution read through model, spy
Levy EEG signals database, cerebellum class brain artificial intelligence module, gyroscope；
The EEG signals solution read through model docks the EEG signals received and stores according in feature EEG signals database
Various motion characteristics EEG signals data interpret the motion intention of brains, and result will be interpreted and be sent to cerebellum class brain intelligence
Analog module；
The posture and acceleration of motion of the gyroscope real-time monitoring wearer body and lower limb mechano-electronic ectoskeleton letter
Breath, and cerebellum class brain artificial intelligence module is sent information to immediately；
The cerebellum class brain artificial intelligence module passes through real-time reception and analyzes the brain of EEG signals solution read through model sending
Motion intention director data, a variety of, multiple groups sensor real time data in gyroscope and lower limb mechano-electronic ectoskeleton, under
The direction of motion, operation angle, the fortune of joint mechanical actuation device in each electric mechanical joint of limb mechano-electronic ectoskeleton
Scanning frequency degree is accurately controlled, carries out centre of gravity adjustment at any time to gravity center adjuster, thus the balance of real-time ensuring body and under
Limb electric mechanical ectoskeleton is static and voltuntary movement in coordination；
Multiple channel mechanical drive set controller receives the action command of cerebellum class brain artificial intelligence module, and will accordingly refer to
Order is distributed to corresponding joint mechanical actuation device and drives corresponding electric mechanical joint generation movement.
The cerebellum class brain artificial intelligence module is also connected with automatic training module, and the automatic training module is according to prior establishment
Setting send data to cerebellum class brain artificial intelligence module, cerebellum class brain artificial intelligence module is according to the data to multichannel machine
Tool drive set controller issues action command driving mechanical exoskeleton and makes various movements.
The advantages and positive effects of the utility model are as follows:
1, the novel lower limb mechano-electronic ectoskeleton of the utility model is provided with hip electric mechanical joint, knee electronic machine
The joint angles and damping sensor in tool joint, ankle electric mechanical joint and its inside, can accurately incude various movements
And respective control function is realized accordingly, meanwhile, it is balanced by gravity center adjuster adjust automatically lower limb, guarantees the stability of walking
And reliability, the slow problem of the rehabilitation efficacy of lower limb function forfeiture patient can be efficiently solved.
2, the complex control system of the utility model is directly acquired by human brain Computer Interface Technology, interprets brain movement
Control core of the electroneurographic signal of cortex (advanced motion maincenter) as system, human brain can directly control mechano-electronic dermoskeleton
Bone generates various movements by the intention of human brain, and operates electronics ectoskeleton steadily, evenly with a variety of methods；Pass through collection
Multiple groups periphery sensor generates joint angles, pressure and temperature information and is handled by system and simulate that Adult Human Brain is identifiable to be felt deeply
The signal for feeling (joint sensation) and superficial sensibility (touch-pressure sensation and temperature sensation) is felt by human brain computer interface unit feedback to brain
Cortex (advanced sensorium), after brain sensory cortex is by electroneurographic signal integration processing, feedback arrives brain advanced motion skin
Layer maincenter, generates secondary active movement behavior, plays the secondary correction of motion control signal and adjustment effect.Meanwhile passing through this reality
With novel class cerebellum intelligent control module, the upright of energy adjustment patient, balance and gait enable patient to be truly realized
It freely walks in the state of no external fixation device.Finally, perilesional can generate after the training of certain time and treatment
The neural network of compensatory, so as to veritably rebuild the motor function of lower limb.
3, the utility model is designed reasonably is established two way blocks by human brain computer interface unit and human brain and is connected
It connects, human brain can directly control novel lower limb mechano-electronic ectoskeleton and generate various movements by the intention of human brain, and with a variety of
Method makes the running that electronics ectoskeleton is steady, balances, and can be widely applied to limb motion, acrognosis caused by nervous system injury
Feel rehabilitation, the life auxiliary of dysfunction crowd；Other robot technology are also widely applied to, such as remote mechanical control, are helped
Power auxiliary, hazardous environment exploration, operation of getting rid of the danger etc..
Detailed description of the invention
Fig. 1 is the lower limb mechano-electronic ectoskeleton side view of the utility model；
Fig. 2 is the three-dimensional perspective of the gravity center adjuster of the utility model；
Fig. 3 is the cross-sectional view of the gravity center adjuster of the utility model；
Fig. 4 is the 3 dimensional drawing of the moveable counter weight block of the utility model；
Fig. 5 is that the complex control system of the utility model connects block diagram；
In figure, 1: kinaesthesis control device, 2: gravity center adjuster, 3-1: fixing strap of waist, 3-2: thigh fixed belt,
3-3: small leg restraint webbing, 4-1: waist connecting rod, 4-2: thigh connecting rod, 4-3: shank connecting rod, 5-1: hip electric mechanical
Joint, 5-2: knee electric mechanical joint, 5-3: ankle electric mechanical joint, 6-1: thigh ectoskeleton, 6-2: shank ectoskeleton,
7- foot fixes shoes, 8- plantar pressure and temperature sensor；2-1:U type hollow tubing conductor, 2-2: 2-3: moveable counter weight block is led
Line, 2-4: driving wheel, 2-5: shaft, 2-6: motor, 2-7: friction pulley.
Specific embodiment
The utility model embodiment is further described below in conjunction with attached drawing:
A kind of novel lower limb mechano-electronic ectoskeleton, as shown in Figure 1, including gravity center adjuster 2, hip electric mechanical pass
Save 5-1, knee electric mechanical joint 5-2, ankle electric mechanical joint 5-3, waist connecting rod 4-1, thigh connecting rod 4-2, small
The fixed shoes 7 of leg connecting rod 4-3, thigh ectoskeleton 6-1, shank ectoskeleton 6-2, foot and plantar pressure and temperature sensor 8.Institute
Gravity center adjuster 2 is stated to be mounted on waist connecting rod 4-1, it is the waist connecting rod 4-1, hip electric mechanical joint 5-1, big
Leg ectoskeleton 6-1, thigh connecting rod 4-2, knee electric mechanical joint 5-2, shank ectoskeleton 6-2, shank connecting rod 4-3, ankle
Portion electric mechanical joint 5-3, which is sequentially connected, to be connect.The fixed shoes 7 of the foot are connect with ankle electric mechanical joint 5-3, for fixing
Wearer's foot.The plantar pressure and temperature sensor 8 are mounted on the bottom of the fixed shoes 7 of foot, for detecting foot bottom reality
When pressure and temperature data and real time data is sent to kinaesthesis control device 1.In gravity center adjuster 2, thigh dermoskeleton
Bone 6-1 and shank ectoskeleton 6-2 is respectively equipped with fixing strap of waist 3-1, thigh fixed belt 3-2, small leg restraint webbing 3-3, and being used for will
People's limbs are tightly fastened with mechano-electronic ectoskeleton, so as to the moving limb motion of mechano-electronic ectoskeleton band.
Above-mentioned hip electric mechanical joint 5-1, knee electric mechanical joint 5-2, ankle electric mechanical joint 5-3 are by corresponding
Joint mechanical actuation device driving generation movement, above-mentioned electric mechanical is intra-articular to be equipped with joint angles and damping sensor,
The sensor is by corresponding joint angle, the direction of motion, kinetic damping data real-time transmission to upper equipment.The waist connection
Bar 4-1, thigh connecting rod 4-2, shank connecting rod 4-3 can be flexible and fixed up and down along long shaft, to adapt to different wearings
The height of person changes.Above-mentioned ectoskeleton is made of firm plastics or metal material, is sticked and is fixed on human body surface, can be supported
Limbs simultaneously drive limb motion.
As shown in Figure 2, Figure 3 and Figure 4 shown in, gravity center adjuster 7 by U-shaped hollow tubing conductor 2-1, two moveable counter weight block 2-2,
Driving wheel 2-4, shaft 2-5, motor 2-6 and friction pulley 2-7 are constituted.The two sides the U-shaped hollow tubing conductor 2-1 lower end is connect with waist
Bar 4-1 is installed together, and described two moveable counter weight block 2-2 are mounted in U-shaped hollow tubing conductor 2-1 and hollow can lead along U-shaped
Pipe 2-1 inner wall is mobile.There are multiple driving wheel 2-4 on the surface moveable counter weight block 2-2 and are mounted on shaft 2-5, moves
There are multiple motor 2-6 to drive friction pulley 2-7 rotation inside clump weight 2-2, friction pulley 2-7 drives driving wheel 2-4 rotation, moves
Clump weight 2-2 is moved in U-shaped hollow tubing conductor 2-1.The one end motor 2-6 connecting wire 2-3, the connection of the conducting wire 2-3 other end
Upper equipment, under the control of upper equipment, two moveable counter weight block 2-2 adjust mechano-electronic dermoskeleton by accordingly moving
The transfer of bone center of gravity makes mechano-electronic ectoskeleton center of gravity remain equilibrium state.
A kind of complex control system of novel lower limb mechano-electronic ectoskeleton, by novel lower limb mechano-electronic ectoskeleton and on
Position equipment connects and composes, and the upper equipment includes multi-functional human brain computer interface unit and kinaesthesis control device, such as
Shown in Fig. 5, novel lower limb mechano-electronic ectoskeleton passes through kinaesthesis control device and multi-functional human brain computer interface unit
It is connected, the kinaesthesis control device 1 is mounted on novel lower limb mechano-electronic ectoskeleton that (the present embodiment is mounted on center of gravity
Adjust on device, as shown in Figure 1), multi-functional human brain computer interface unit is worn on head.
The multi-functional human brain computer interface unit is equipped with stereotaxis magnetic head arrays and ultra micro scalp electrode array,
The stereotaxis magnetic head arrays and ultra micro scalp electrode array respectively with the feeling administrative unit of kinaesthesis control device and
Lower extremity movement administrative unit is connected.The stereotaxis magnetic head arrays are located at head corresponding to cerebral cortex somatesthesia maincenter
Epidermis face is used to be passed to artificial sensory signal to somatesthesia maincenter, and the ultra micro scalp electrode array is located at cerebral cortex body
Scalp surface corresponding to motor center is used to acquire the electric signal of somatic movement maincenter generation.The ultra micro scalp electrode array
Successively it is connected with signal amplifier, analog-digital converter and signal transmission device.Signal output device outputs signal to lower extremity movement pipe
Manage unit.
The kinaesthesis control device includes feeling administrative unit and lower extremity movement administrative unit.
Feel administrative unit by artificial sensory system centralized control unit, magnetic field Stereo-control coil control unit and
Pulsed magnetic field coil control unit connects and composes.The artificial sensory system centralized control unit receives novel lower limb mechano-electronic
Multiple groups joint angles and the real-time data information of damping sensor, pressure sensor, temperature sensor in ectoskeleton, by these
The signal of the identifiable deep sensory of Adult Human Brain (joint sensation) and superficial sensibility (touch-pressure sensation and temperature sensation) is integrated, encoded to data,
And send encoded information and control instruction to magnetic field Stereo-control coil control unit and pulsed magnetic field coil control list
Member, under the driving of magnetic field Stereo-control coil control unit and pulsed magnetic field coil control unit, stereotaxis magnetic head
Array issues the pulsed magnetic field signal that can be interpreted by brain to cerebral cortex somatesthesia maincenter, to generate artificial feeling, greatly
Brain can perceive the information such as the temperature by the contacted object of mechano-electronic ectoskeleton, soft or hard and joint position and pass through brain
Interior neural network passes to other functional areas of big intracerebral, and human body is made to generate corresponding reaction.
Lower extremity movement administrative unit includes multiple channel mechanical drive set controller, EEG signals solution read through model, feature brain
Electrical signal data library, cerebellum class brain artificial intelligence module (movement posture balance control module), gyroscope, automatic training module.
Lower extremity movement administrative unit is capable of providing the autonomous drive mode of EEG signals (by receiving in analysis human cerebral cortex's somatic movement
Pivot movement electric signal driving mechano-electronic ectoskeleton movement), automatic training module drive mode (pass through the setting worked out in advance
Drive the movement of mechano-electronic ectoskeleton), a variety of drives such as power-assisted drive mode (providing mechano-electronic ectoskeleton power-assisted for wearer)
Dynamic model formula.Various drive modes can with independent work or in which multiple drive modes Collaboration drive lower limb mechano-electronic
Ectoskeleton.The various pieces of lower extremity movement administrative unit are illustrated respectively below:
EEG signals solution read through model interprets the motion intention of brain by the EEG signals that analysis receives, and analysis is tied
Fruit is sent to cerebellum class brain artificial intelligence module (movement posture balance control module).
Store various motion characteristics EEG signals data, EEG signals solution read through model in feature EEG signals database
The EEG signals received can be compared quickly, accurately to interpret brain and be intended to data in the database.
Gyroscope is capable of the information such as posture and the acceleration of motion of real-time monitoring body, and sends information to cerebellum immediately
Class brain artificial intelligence module (movement posture balance control module).
Cerebellum class brain artificial intelligence module (movement posture balance control module): since the major function of mankind's cerebellum is to adjust
Save body balance, adjust muscle tonue, coordinate voltuntary movement etc., therefore this module is sent out by real-time reception EEG signals solution read through model
A variety of, multiple groups sensor real time data in the motion intention director data of brain out, gyroscope and mechano-electronic ectoskeleton,
By the integration and comprehensive analysis to these data, to the joint in each electric mechanical joint of lower limb mechano-electronic ectoskeleton
The direction of motion, operation angle, speed of service of mechanical actuation device etc. are accurately controlled, are carried out at any time to gravity center adjuster
Centre of gravity adjustment, thus the balance of real-time ensuring body and lower limb electric mechanical ectoskeleton is static and voltuntary movement in coordination, it is real
The function of now simulating mankind's cerebellum, operate electric mechanical ectoskeleton can steadily, evenly under various motor patterns.Specifically
Including following functions:
(1) analysis of data is sent to EEG signals solution read through model: the data transmitted according to other sensors are discribed
Current mechanical electronics ectoskeleton posture information further clarifies brain movement and is intended to, is intended to carry out to mistake and dangerous movement
Normal or revised human brain movement intent instructions are sent to multiple channel mechanical drive set controller by amendment.
(2) analysis of data is sent to gyroscope: the real-time attitude and acceleration of motion of analysis wearer's body become in real time
Change.
(3) joint angles and damping sensor are sent with the analysis of data: analyzing the angle in each electric mechanical joint in real time
Degree, the direction of motion and the kinetic damping delta data in each electric mechanical joint determine that mechano-electronic ectoskeleton is each according to analyzing
A real-time posture information in joint.Under the autonomous drive mode of EEG signals and under automatic training module drive mode, pass through reality
When measurement electric mechanical joint kinetic damping variation, indirectly understand wearer joint, muscle and tendon tense situation, work as resistance
The movement of mechano-electronic ectoskeleton will be slowed or stopped when Buddhist nun's numerical value is higher than setting early warning value by instruction, avoid wearer
The damage in joint, muscle or tendon；Under power-assisted drive mode, passed by the angle and damping of analyzing each electric mechanical joint
The trickle data of sensor changes, and the intention of the direction of motion in each joint of user, movement velocity and dynamics is specified, to make phase
The joint mechanical actuation device in the electric mechanical joint answered generates corresponding power-assisted.
(4) analysis of data is sent to plantar pressure sensor and temperature sensor: when mechano-electronic ectoskeleton vola is every
When secondary contact ground, plantar pressure sensor and temperature sensor will generate pressure and temperature data immediately, by analyzing pressure
And the speed of the temperature data numerical value changed and numerical value change, the variation of material, the hardness on contacted ground etc. can be estimated, when
When these numerical value exceed early warning value, the movement of mechano-electronic ectoskeleton will be slowed or stopped by instruction, avoid making a misstep or tramp
Object.
Automatic training module: according to the setting worked out in advance, to cerebellum class brain artificial intelligence module, (movement posture balance is controlled
Molding block) data are sent, cerebellum class brain artificial intelligence module (movement posture balance control module) is by the data and a variety of sensings
Device aggregation of data issues action command to multiple channel mechanical drive set controller after analyzing and handling and drives mechano-electronic dermoskeleton
Bone makes various movements.The gimmick of module analog profession rehabilitation teacher, the lower limb exercise caused by various nerve and muscle damages
The patient of dysfunction carries out personalized, incremental rehabilitation training.The module also can receive and analyze cerebellum class brain intelligence
What analog module (movement posture balance control module) returned analyzes data to joint angles and damping sensor, and according to the number
According to assessment wearer joint, the tensity of muscle and tendon, and the intensity and degree of adjust automatically training.The module can also be commented
Estimate the training effect of wearer.
Multiple channel mechanical drive set controller can receive (the movement posture balance control of cerebellum class brain artificial intelligence module
Module) action command, and command adapted thereto is distributed to corresponding joint mechanical actuation device, corresponding electric mechanical is driven to close
Save generation movement.
It is emphasized that embodiment described in the utility model be it is illustrative, without being restrictive, therefore this reality
It is all practical new according to this by those skilled in the art with novel including being not limited to embodiment described in specific embodiment
The other embodiments that the technical solution of type obtains also belong to the range of the utility model protection.
Claims (5)
1. a kind of novel lower limb mechano-electronic ectoskeleton, it is characterised in that: closed including gravity center adjuster, hip electric mechanical
Section, knee electric mechanical joint, ankle electric mechanical joint, waist connecting rod, thigh connecting rod, shank connecting rod, outside thigh
The fixed shoes of bone, shank ectoskeleton, foot and plantar pressure sensors；The gravity center adjuster is mounted in waist connecting rod, institute
State waist connecting rod, hip electric mechanical joint, thigh ectoskeleton, thigh connecting rod, knee electric mechanical joint, shank dermoskeleton
Bone, shank connecting rod, ankle electric mechanical joint are sequentially connected and connect；The fixed shoes of the foot and ankle electric mechanical joint connect
It connects, the plantar pressure sensors are mounted on the bottom of the fixed shoes of foot；Above-mentioned electric mechanical is intra-articular to be equipped with joint angles and resistance
Buddhist nun's sensor simultaneously drives generation movement by corresponding joint mechanical actuation device.
2. a kind of novel lower limb mechano-electronic ectoskeleton according to claim 1, it is characterised in that: the centre of gravity adjustment dress
It sets and is made of U-shaped hollow tubing conductor, two moveable counter weight blocks, driving wheel, shaft, motor and friction pulley；The U-shaped hollow tubing conductor
Two sides lower end is installed together with waist connecting rod, and there are multiple driving wheels on moveable counter weight block surface and are mounted on shaft
On, there are multiple motors to drive friction wheel from rotation inside moveable counter weight block, which drives driving wheel rotation removable to make
Dynamic clump weight moves in U-shaped hollow tubing conductor.
3. a kind of novel lower limb mechano-electronic ectoskeleton according to claim 1 or 2, it is characterised in that: the center of gravity tune
Fixing strap of waist, thigh fixed belt and small leg restraint webbing are respectively equipped on engagement positions, thigh ectoskeleton and shank ectoskeleton.
4. a kind of novel lower limb mechano-electronic ectoskeleton according to claim 1 or 2, it is characterised in that: the waist connects
Extension bar, thigh connecting rod, shank connecting rod are to be telescopically connected to bar.
5. a kind of novel lower limb mechano-electronic ectoskeleton according to claim 1 or 2, it is characterised in that: the vola passes
Sensor is plantar pressure and temperature sensor.
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| CN107468486A (en) * | 2017-09-21 | 2017-12-15 | 臧大维 | Lower limb class brain intelligent machine electronics ectoskeleton and its complex control system |
| US11148279B1 (en) | 2020-06-04 | 2021-10-19 | Dephy, Inc. | Customized configuration for an exoskeleton controller |
| US11173093B1 (en) | 2020-09-16 | 2021-11-16 | Dephy, Inc. | Systems and methods for an active exoskeleton with local battery |
| US11298287B2 (en) | 2020-06-02 | 2022-04-12 | Dephy, Inc. | Systems and methods for a compressed controller for an active exoskeleton |
| US11389367B2 (en) | 2020-06-05 | 2022-07-19 | Dephy, Inc. | Real-time feedback-based optimization of an exoskeleton |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107468486A (en) * | 2017-09-21 | 2017-12-15 | 臧大维 | Lower limb class brain intelligent machine electronics ectoskeleton and its complex control system |
| CN107468486B (en) * | 2017-09-21 | 2023-09-22 | 臧大维 | Intelligent mechanical electronic exoskeleton of lower limb brain and comprehensive control system thereof |
| US11298287B2 (en) | 2020-06-02 | 2022-04-12 | Dephy, Inc. | Systems and methods for a compressed controller for an active exoskeleton |
| US11148279B1 (en) | 2020-06-04 | 2021-10-19 | Dephy, Inc. | Customized configuration for an exoskeleton controller |
| US11738450B2 (en) | 2020-06-04 | 2023-08-29 | Dephy, Inc. | Customized configuration for an exoskeleton controller |
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