CN211244415U - Wearable ankle exoskeleton - Google Patents

Abstract

The utility model provides a wearable ankle exoskeleton, which comprises an ankle wearing component connected with a pair of foot shoes, a leg wearing component connected with a shank and a power assisting device, wherein the ankle wearing component is rotationally connected with the leg wearing component through a pivot, and the power assisting device comprises a Bowden cable for driving the ankle wearing component and the leg wearing component to rotate relatively, a power device for driving the Bowden cable to stretch and a waistband for binding the power device on the waist of a user; when a human body walks, the power device drives the steel wire rope of the Bowden cable, the steel wire rope pulls the ankle wearing component to rotate relative to the leg wearing component under the guiding of the wire sleeve, so that assistance is provided for plantarflexion movement of ankle joints of a user, and the user is assisted to normally walk. The utility model provides a wearing formula ankle joint ectoskeleton compact structure, the size is little, and light in weight alleviates the heavy burden of user's low limbs in ankle joint department, and is little to the human motion influence, makes the user keep the gait normal walking of nature.

Description

Wearable ankle exoskeleton

Technical Field

The utility model belongs to the technical field of wearable ectoskeleton, more specifically say, relate to a wearing formula ankle joint ectoskeleton.

Background

In recent years, with the gradual increase of the social aging population, the daily life and the trip of more and more old people are influenced by the limb movement dysfunction caused by the natural aging and diseases of the human body, so that the mechanical assistance type exoskeleton developed aiming at the walking assistance, the auxiliary rehabilitation training and the like of the old people is widely popularized and applied. The mechanical assistance type exoskeleton can be universally understood as a wearable robot, and is provided with exoskeleton limbs and exoskeleton joint structures, wherein the exoskeleton limbs are made of materials such as metal and are connected by exoskeleton joints, and the exoskeleton joints drive the exoskeleton limbs to drive limbs of a wearer to move under the direct driving action of hydraulic devices installed at the joints, so that a good assistance effect is achieved for the walking of old people.

However, current wearable ectoskeleton ankle joint helping hand robot adopts hydraulic means directly to carry out the helping hand drive in human ankle joint department usually, not only needs to have great power and just can carry out the helping hand drive to the limbs motion of human body, and the structure is comparatively complicated moreover, and the size is big, and weight is heavy, leads to human low limbs to form strong load sense in ankle joint department, and it is relatively poor to cause human ankle joint motion and ectoskeleton ankle joint motion's harmony, is difficult to make human low limbs keep natural gait walking.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a wearing formula ankle joint ectoskeleton aims at solving the ectoskeleton ankle joint helping hand robot that exists among the prior art, and the structure is comparatively complicated, and the size is big, and weight is heavy, influences the big problem of restriction to the normal walking state of human body.

In order to achieve the above object, the present invention provides a wearable ankle exoskeleton, including an ankle wearing assembly for connecting with a shoe of a foot of a user, a leg wearing assembly for fixing on a calf of the user, and a power assisting device for providing power assisting for plantarflexion movement of an ankle of the user, wherein the ankle wearing assembly is rotatably connected with the leg wearing assembly through a pivot, and the power assisting device includes a bowden cable for pulling the ankle wearing assembly to rotate relative to the leg wearing assembly, a power device for driving the bowden cable to stretch, and a waistband for binding the power device to a waist of the user; the bowden cable is including being used for the pulling the subassembly is dressed to the ankle winds pivot's wire rope and being used for the guide the tensile wire cover of wire rope, the top of wire cover is fixed in power device is last, the bottom mounting of wire cover is in on the subassembly is dressed to the shank, the one end of wire rope with power device's output links to each other, the other end of wire rope with the subassembly is dressed to the ankle links to each other.

Further, the power device comprises a driving motor connected with the waistband and a winding wheel connected with an output shaft of the driving motor, and one end of the steel wire rope is fixed on the winding wheel.

Furthermore, a winding groove for winding the steel wire is concavely arranged on the outer peripheral surface of the winding wheel.

Further, the ankle wearing assembly comprises a sole fixing piece used for being fixed on shoes and boots of a user and two rotary supporting arms respectively arranged on two opposite sides of the sole fixing piece, the top ends of the two rotary supporting arms are respectively connected with the leg wearing assembly in a rotating mode through the pivot, and the other end of the steel wire rope is connected with the sole fixing piece.

Furthermore, the leg wearing assembly comprises a leg fixing piece used for being worn and fixed on a user shank and two leg supporting arms respectively arranged on two opposite sides of the leg fixing piece, and the bottom ends of the two leg supporting arms are respectively connected with the top ends of the two rotating supporting arms through the pivot shafts in a rotating mode.

Furthermore, the pivot is arranged at a position corresponding to the position of the ankle joint of the user, each leg support arm comprises a lower vertical section and an upper bending section which is bent towards the pivot from the top end of the lower vertical section, the bottom end of the lower vertical section is rotatably connected with the top end of the corresponding rotary support arm through the pivot, and one end of the upper bending section, which is far away from the lower vertical section, is fixedly connected with the leg fixing piece.

Further, the leg fixing piece comprises a rigid support frame which is worn and supported on the lower leg of the human body and a binding belt which is used for binding the rigid support frame on the lower leg of the user.

Furthermore, the wearable ankle exoskeleton further comprises an inertial measurement unit for monitoring and feeding back a gait phase of a user, and a controller for receiving the gait phase information fed back by the inertial measurement unit and sending a control instruction to control the power device to assist in adjusting the gait of the user, wherein the inertial measurement unit comprises at least one inertial sensor for acquiring motion parameters of the leg of the user in real time and feeding back the motion parameters to the controller.

Further, the inertial measurement unit includes a first inertial sensor disposed on a foot of the user, a second inertial sensor disposed on a front side of a lower leg of the user, and a third inertial sensor disposed on a front side of an upper leg of the user.

Further, the wearable ankle exoskeleton also comprises a pressure sensor used for acquiring the size and distribution of the sole pressure of the user and feeding back the size and distribution to the controller.

The utility model provides a wearing formula ankle joint ectoskeleton's beneficial effect lies in: compared with the prior art, the utility model provides a wearing formula ankle joint ectoskeleton, including wearing the subassembly and the shank is dressed to the ankle that connects through the pivot to and the subassembly is dressed to the drive ankle and the shank takes place relative pivoted bowden cable, and utilizes the waistband to bind in user's waist with the tensile power device of drive bowden cable. When the ankle wearing component is worn and used, and a user needs to plantar-bend the ankle joint of the foot and push the foot to the ground in the walking process, the power device drives the steel wire rope of the Bowden cable, and the steel wire rope drives the ankle wearing component to rotate relative to the leg wearing component under the guiding of the wire guide sleeve. In the process that the ankle wearing component rotates around the pivot, the ankle wearing component drives the foot ankle joint of the user to do plantar flexion movement so as to assist the foot of the user to plantar flexion and pedal the ground, and the assistance for normal walking is provided for the user. And the power device arranged on the waist of the user drives the ankle wearing component and the leg wearing component which form a lever structure to rotate under the transmission action of the steel wire rope, so that the torque of the power device is amplified, a stable and good power assisting effect can be achieved by using the low-power device, and the structure of the ankle power assisting device is simplified.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments or the prior art descriptions will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive labor.

Fig. 1 is a schematic structural diagram of a wearable ankle exoskeleton provided in an embodiment of the present invention;

FIG. 2 is a partially enlarged schematic view of FIG. 1;

FIG. 3 is a partially enlarged schematic view of FIG. 1;

fig. 4 is a schematic perspective view illustrating a first perspective structure of the ankle wearing component and the leg wearing component of the wearable ankle exoskeleton according to the embodiment of the present invention in rotational connection;

fig. 5 is a schematic perspective view illustrating a three-dimensional structure of the ankle wearing assembly and the leg wearing assembly of the wearable ankle exoskeleton according to the embodiment of the present invention.

Wherein, in the drawings, the reference numerals are mainly as follows:

1-ankle wear assembly; 11-sole fixing element; 12-rotating the support arm;

2-a leg wear assembly; 21-a leg fixing; 211-a rigid support frame; 212-a strap; 22-a leg support arm; 221-upper bend section; 222-a lower vertical section;

3, a power assisting device; 31-a bowden cable; 311-wire rope; 312-a wire cover; 32-a power plant; 321-a drive motor; 322-a reel; 323-box body; 324-a battery; 325-winding slot; 33-waistband;

4-a pivot; 5-a first inertial sensor; 6-a second inertial sensor;

7-a third inertial sensor; 8-a pressure sensor; 9-locking.

Detailed Description

In order to make the technical problem, technical solution and advantageous effects to be solved by the present invention more clearly understood, the following description is given in conjunction with the accompanying drawings and embodiments to illustrate the present invention in further detail. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

It will be understood that when an element is referred to as being "connected" or "disposed" to another element, it can be directly on the other element or be indirectly connected to the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise. The meaning of "a number" is one or more unless specifically limited otherwise.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

Referring to fig. 1 to 5, the wearable ankle exoskeleton of the present invention will now be described. The utility model provides a wearing formula ankle joint ectoskeleton, including being used for wearing subassembly 1 with the ankle that user's foot shoes boots link to each other, be used for being fixed in the shank of user's shank and be used for providing helping hand booster unit 3 of helping hand to the plantarflexion motion of user's ankle joint, ankle is dressed subassembly 1 and is dressed the subassembly 2 and rotate with the shank through pivot 4 and be connected, booster unit 3 includes being used for pulling ankle and dresses subassembly 1 and dresses the rotatory bowden cable 31 of subassembly 2 for the shank, be used for driving the tensile power device 32 of bowden cable 31 and be used for tying up power device 32 in the waistband 33 of user's waist; the bowden cable 31 includes a wire 311 for pulling the ankle wearing assembly 1 to rotate about the pivot 4 and a wire guide 312 for guiding the wire 311 to be stretched, the top end of the wire guide 312 is fixed to the power unit 32, the bottom end of the wire guide 312 is fixed to the leg wearing assembly 2, one end of the wire 311 is connected to the output end of the power unit 32, and the other end of the wire 311 is connected to the ankle wearing assembly 1.

The utility model provides a basic operating principle of wearing formula ankle joint ectoskeleton: after a user wears the wearable ankle exoskeleton, when the user needs to bend the ankle of the foot to step on the ground in the walking process, the power device 32 worn on the waist of the user through the waistband 33 is powered on to work, the steel wire rope 311 of the bowden cable 31 is driven to pull the ankle wearing component 1 worn on the shoe boot of the foot of the user, and the ankle wearing component 1 and the leg wearing component 2 worn on the calf of the user rotate relatively. In the process that the ankle wearing component 1 rotates around the pivot 4, the foot ankle joint of the user is driven to do plantar flexion movement, assistance is provided for the plantar flexion movement of the foot ankle joint of the user when the user walks, the foot of the user is assisted to plantar flexion and pedal the ground, and therefore energy consumption of the user when the user walks is reduced, and moment output of the ankle joint of the user is reduced. Moreover, the above-mentioned assistance for the plantarflexion movement of the ankle joint of the user when the foot of the human body steps on the ground is provided by the lever structure formed by the rotation connection between the leg wearing component 2 and the ankle wearing component 1 through the pivot 4, and the ankle wearing component 1 is pulled by the steel wire 311 driven by the power device 32, the moment of the power device 32 (the driving motor 321) can be amplified by using the lever structure, the assistance moment of the power device 32 (the driving motor 321) is improved, the user can be well assisted in the step-on walking of the ankle joint of the foot, the requirement of the ankle joint on the high power of the driving motor 321 is reduced, the use effect of providing the high-power assistance driving for the ankle joint by using the low-power driving motor 321 is realized, and the energy and the output moment consumed by the user in the step-on the ground are reduced. Furthermore, the power device 32 (the driving motor 321) is worn on the waist of the user through the waist belt 33, the power device 32 is used for driving the bowden cable 31 to drive the ankle wearing assembly 1, so as to assist the ankle joint of the user, reduce the load of the lower limb of the user on the ankle joint, ensure that the motion of the ankle joint of the human body and the motion of the exoskeleton ankle joint assisting device 3 have good coordination, and the lower limb of the human body can keep natural gait walking. Therefore, the utility model provides a wearing formula ankle joint ectoskeleton has overcome "traditional ectoskeleton ankle joint helping hand robot, establishes driving motor 321 in human ankle joint department and carries out the helping hand drive, and not only higher to the power requirement of motor, lead to human low limbs heavy burden walking moreover, is difficult to make the problem that human low limbs kept the gait walking" of nature.

The utility model provides a wearing formula ankle joint ectoskeleton compares with prior art, including wearing subassembly 1 and shank wearing subassembly 2 through the ankle of pivot 4 rotation connection to and drive ankle and dress subassembly 1 and shank and dress subassembly 2 and take place relative pivoted Bowden cable 31, and utilize waistband 33 to tie up in user's waist with the tensile power device 32 of drive Bowden cable 31. When the ankle wearing assembly is worn and used, and a user needs to plantar-bend the ankle joint to push the ground in the walking process, the power device 32 drives the steel wire 311 of the bowden cable 31, and the steel wire 311 pulls the ankle wearing assembly 1 to rotate relative to the leg wearing assembly 2 under the guidance of the wire sleeve 312. In the process that the ankle wearing component 1 rotates around the pivot 4, the ankle wearing component 1 drives the foot ankle joint of the user to do plantar flexion movement so as to assist the foot of the user to plantar flexion and pedal the ground, and the assistance of normal walking is provided for the user. And the power device 32 arranged at the waist of the user drives the ankle wearing component 1 and the leg wearing component 2 which form a lever structure to rotate under the transmission action of the steel wire 311, the moment of the power device 32 is amplified, the stable and good power assisting effect can be achieved by using the low-power device 32, the structure of the ankle power assisting device 3 is simplified, and compared with the structure which adopts the power device 32 to directly perform power assisting driving on the ankle, the power assisting device has the advantages of compact structure, small size and light weight, the load of the lower limbs of the user at the ankle joint is reduced, the movement of the ankle joint of the user and the movement of the exoskeleton ankle joint have good coordination and consistency, and the user can stably walk by keeping natural and efficient gait.

Specifically, referring to fig. 1, fig. 3 and fig. 4 together, as an embodiment of the present invention, the wire 311 is movably disposed in the trepan of the wire sheath 312, and one end of the wire 311 extends out of the top port of the wire sheath 312 and is connected to the output end of the power device 32, and the other end of the wire 311 extends out of the bottom port of the wire sheath 312 and is connected to the ankle wearing assembly 1.

In this embodiment, be equipped with wire sleeve 312 between power device 32 and shank dress subassembly 2, and arrange wire sleeve 311 in the trepanning of wire sleeve 312 with moving about, play the guide restriction effect to wire sleeve 312 to the tensile direction of wire sleeve 311, thereby make power device 32 can drive ankle more stably high-efficiently and dress subassembly 1 and shank and dress subassembly 2 and take place relative rotation, play good helping hand effect to user's foot ankle joint, when avoiding power device 32 to drive wire sleeve 311 pulling ankle and dress subassembly 1, wire sleeve 311 takes place to rock or beat the displacement, influence power device 32 drive ankle and dress subassembly 1 and shank and dress precision and stability that take place relative rotation between subassembly 2.

Further, referring to fig. 1 and 3 together, as an embodiment of the wearable ankle exoskeleton of the present invention, the power device 32 includes a driving motor 321 connected to the waist belt 33 and a reel 322 connected to an output shaft of the driving motor 321, and one end of the wire 311 is fixed to the reel 322.

In this embodiment, the power device 32 includes a driving motor 321 connected to the waist belt 33 and a reel 322 connected to an output shaft of the driving motor 321, the reel 322 is connected to the output shaft of the driving motor 321, and the reel 322 is driven by the driving motor 321 to wind the wire 311, so that the wire 311 drives the ankle wearing assembly 1, and the transmission rate and the transmission efficiency of the wire 311 are improved.

Specifically, referring to fig. 1 and fig. 3 together, as a specific embodiment of the wearable ankle exoskeleton provided by the present invention, the power device 32 further includes a box 323 for accommodating the driving motor 321 and a battery 324 for providing power to the driving motor 321, the driving motor 321 is disposed in the box 323, and the box 323 is fixed to the waist of the user through the belt 33. Moreover, the belt 33 is an elastic band, and the case 323 and the battery 324 are symmetrically distributed on the front side and the rear side (or the left side and the right side) of the waist of the user through the elastic band, so that the power device 32 is convenient to wear and detach, and simultaneously, the overall weight and the human body load of the power device 32 are uniformly distributed, thereby effectively reducing the adverse effect and the uncomfortable feeling of the portable power device 32 on the normal walking of the human body, and enabling the user to better keep a natural and efficient gait for walking.

Of course, when the driving motor 321 is suspended and fixed to the waist of the human body through the belt 33, the case body 323 incorporating the driving motor 321 may be carried on the back of the human body by a backpack, or may be externally fixed for medical rehabilitation, etc., instead of being bound to the waist of the human body by an elastic band.

Of course, the driving motor 321 may also be replaced by a pneumatic motor, a pneumatic driving mechanism, or a hydraulic driving mechanism, so as to realize the driving function of the power device 3 to drive the wire 311, which may be specifically selected according to actual needs, and is not limited herein.

Further, please refer to fig. 3 together, as a specific embodiment of the wearable ankle exoskeleton provided in the present invention, a winding groove 325 for winding the wire 311 is concavely disposed on the outer peripheral surface of the reel 322, so as to accommodate and limit the wire 311 wound on the reel 322 in the winding groove 325, thereby preventing the phenomena of rope loosening and rope tangling when the driving motor 321 winds the wire 311, and affecting the stability, reliability and power assisting effect of the ankle joint main force mechanism.

Further, please refer to fig. 2, fig. 4 and fig. 5 together, as a specific embodiment of the wearable ankle exoskeleton, the ankle wearing assembly 1 includes a sole fixing member 11 for fixing on the shoes and boots of the user and two rotation supporting arms 12 respectively disposed on two opposite sides of the sole fixing member 11, the top ends of the two rotation supporting arms 12 are respectively rotatably connected with the leg wearing assembly 2 through a pivot 4, and the other end of the wire 311 is connected with the sole fixing member 11.

In this embodiment, be provided with sole mounting 11, sole mounting 11 is including being used for the rigid U-shaped cover of fixed cover in the sole outside, and the other end of wire rope 311 links to each other with the rigid U-shaped cover of sole mounting 11, and the both ends of rigid U-shaped cover are equipped with respectively and are used for quick fixed locking and untie fixed hasp 9 fast, and convenience of customers dresses ankle wearing subassembly 1.

In this embodiment, the opposite sides of the rigid U-shaped sleeve of the sole fixing member 11 are respectively provided with the rotary supporting arms 12, so that the rigid U-shaped sleeve of the sole fixing member 11 is rotatably connected to the leg wearing member 2 through the rotary supporting arms 12, the rigid U-shaped sleeve of the sole fixing member 11 and the rotary supporting arms 12 at the two sides thereof are utilized to jointly support the leg wearing member 2, so that the ankle exoskeleton has compact overall structure, light weight, small size and high assistance efficiency, the combination of the upper flexible binding band fixed connection and the lower rigid U-shaped sleeve locking fixed connection is adopted, and the leg wearing member 2 is effectively supported through the rotary supporting arms 12, thereby avoiding the problem that the traditional flexible exoskeleton ankle joint power assisting device 3 completely depends on the binding band to be fixedly connected with the foot of a human body, which is difficult to provide enough assistance to the ankle joint of the human body in time, and the stability of the assistance is difficult to ensure that the, but also influences the comfort of the motion of the ankle joint of the human foot.

In this embodiment, the rotary support arms 12 at the two opposite sides of the sole fixing member 11 are detachably connected to the rigid U-shaped sleeve of the sole fixing member 11, so that the height of the pivot 4 can be flexibly adjusted by replacing the rotary support arms 12 with different lengths according to the height position of the ankle of different users and the difference between the shoes and boots worn, and the central axis of the pivot 4 coincides with the center of the rotation shaft of the ankle, thereby achieving the best power assisting effect and improving the comfort.

In this embodiment, sole mounting 11 (the connected mode of non-glued joint) can relieve fast through being connected of hasp 9 with the shoes boots to directly separate ankle joint assist drive device from the shoes boots, this dress design makes this ankle joint assist drive device dress convenient with dismantle, and also makes daily complicated environment adaptability also obviously improve with the design of human body and the high integration of shoes boots.

Further, please refer to fig. 1, fig. 2 and fig. 4 together, as a specific embodiment of the present invention, the leg wearing assembly 2 includes a leg fixing member 21 for wearing and fixing on the lower leg of the user and two leg supporting arms 22 respectively disposed at two opposite sides of the leg fixing member 21, and the bottom ends of the two leg supporting arms 22 are respectively rotatably connected to the top ends of the two rotating supporting arms 12 through the pivot 4.

Preferably, the leg fixing member 21 comprises a rigid support frame 211 for supporting the lower leg of the human body and a binding band 212 for binding the rigid support frame 211 to the lower leg of the human body, so that the leg fixing member 21 can be quickly attached to and detached from the lower leg of the human body through the binding band 212, and the wearing is convenient for the user.

In this embodiment, the two leg support arms 22 disposed on the two opposite sides of the leg fixing member 21 are detachably connected to the rigid support frame 211 of the leg fixing member 21, the rigid support frame 211 includes a wire fixing seat and two cantilevers symmetrically connected to the wire fixing seat respectively, so as to flexibly adjust the length of the cantilever by replacing the rigid support frame 211 with different lengths of the cantilever according to the functional requirements of different users, and the force arm size when the assistance force is changed by adjusting the length of the cantilever, thereby optimizing the assistance effect.

In this embodiment, wire sleeve 312 links to each other with the solidus seat on the shank mounting 21 (rigid support frame 211), be equipped with the hole that passes that supplies wire rope to pass on the solidus seat, wire sleeve 312's bottom mouth is stretched out to the other end of wire rope 311, pass the hole back that passes on the solidus seat, link to each other with the rigidity U-shaped cover of sole mounting 11, and be equipped with the solidus ware that is used for fixed connection wire rope 311 on the rigidity U-shaped cover, the position that sets up of solidus ware is corresponding with the position that passes the hole of solidus seat, with the transmission efficiency and the transmission precision that improve wire rope 311, make ankle joint booster unit 3 can stably high-efficiently carry out supplementary helping hand to user's foot ankle.

Further, please refer to fig. 2, fig. 4 and fig. 5 together, as a specific embodiment of the wearable ankle exoskeleton provided by the present invention, the setting position of the pivot 4 corresponds to the position of the ankle joint of the user, each leg supporting arm 22 includes a lower vertical section 221 and an upper bending section 222 bending radially towards the pivot 4 at the top end of the lower vertical section 221, the bottom end of the lower vertical section 221 is rotatably connected to the top end of the corresponding rotary supporting arm 12 through the pivot 4, and one end of the upper bending section 222 away from the lower vertical section 221 is fixedly connected to the leg fixing member 21.

In this embodiment, the setting position of the pivot 4 corresponds to the position of the ankle joint of the user, each leg support arm 22 includes a lower vertical section 221 and an upper bending section 222 that bends radially towards the pivot 4 at the top end of the lower vertical section 221, the bottom end of the lower vertical section 221 is rotatably connected with the top end of the corresponding rotary support arm 12 through the pivot 4, and one end of the upper bending section 222 far away from the lower vertical section 221 is fixedly connected with the leg fixing member 21 (rigid support frame 211), so as to realize the rotatable connection between the leg wearing assembly 2 and the ankle wearing assembly 1. Because the lower vertical section 221 and the upper bending section 222 form bending crank arms, each crank arm is rotatably connected with the corresponding rotating support arm 12 through the pivot 4 to form a lever structure, so that the moment of the ankle wearing assembly 1 driven by the pulling of the steel wire 311 to rotate around the pivot 4 is increased, and the power assisting effect of the ankle power assisting device 3 in assisting the plantar flexion of the ankle of the user is improved.

Further, as the utility model provides a wearing formula ankle joint ectoskeleton's a specific implementation mode, wearing formula ankle joint ectoskeleton is still including the inertial measurement unit that is used for monitoring and feedback user gait phase place, a controller for receiving the gait phase place information of inertial measurement unit feedback and sending control command control power device 32 with supplementary user gait adjustment, inertial measurement unit includes that at least one is used for carrying out real-time acquisition and feeding back to the inertial sensor of controller to the motion parameter of user's shank, the controller links to each other with power device 32 electrical property.

Preferably, the controller adopts a single chip microcomputer (microcomputer) with data processing capability such as a central processing unit and a random access memory, and the inertial sensor can be in communication connection with the controller in a wired or wireless mode.

In this embodiment, the inertia measurement unit is used to obtain the walking state and characteristics of the human body, such as the gait phase information of the gait cycle, the foot landing time, the foot lift-off time, and the like, the controller receives the gait phase information fed back by the inertia measurement unit, the control algorithm stored in the controller determines the real-time movement intention or walking intention of the user by using the kinematic gait parameters obtained from the inertia measurement unit in the pre-stride period of the gait cycle, and the controller sends a control instruction to control the power device 32 according to the prediction result to assist the gait adjustment of the user, so that the user can keep normal walking with natural and efficient gait.

Further, please refer to fig. 1 together, as a specific embodiment of the wearable ankle exoskeleton provided in the present invention, the inertia measurement unit includes a first inertia sensor 5 disposed on the foot of the user, a second inertia sensor 6 disposed on the front side of the lower leg of the user, and a third inertia sensor 7 disposed on the front side of the upper leg of the user, and the first inertia sensor 5, the second inertia sensor 6, and the third inertia sensor 7 are respectively connected to the controller in a wired or wireless manner.

In the embodiment, the inertia measurement unit adopts three inertia sensors at the same time, measures the motion posture of the foot of the user through the first inertia sensor 5, the motion posture of the user's calf is measured by the second inertial sensor 6, the motion posture of the user's thigh is measured by the third inertial sensor 7, can accurately identify and judge the current walking environment and motion state of the human body, acquire corresponding walking state and characteristic information, acquire the walking state and characteristic (such as a gait cycle, a foot landing moment, a foot off-ground moment and the like) gait phase information of the human body according to the three inertial sensors through the controller, provide basis for the control of the wearable ankle exoskeleton, send a control instruction to control the driving action of the power device 32 according to the prediction analysis result, the gait of the user is adjusted in an auxiliary mode, and the user can keep walking normally with natural and efficient gait.

Further, please refer to fig. 1 together, as a specific embodiment of the wearable ankle exoskeleton provided by the present invention, the wearable ankle exoskeleton further comprises a pressure sensor 8 for acquiring the sole pressure of the user and the distribution, and the pressure sensor 8 is in communication connection with the controller in a wired or wireless manner.

In the embodiment, the pressure sensor 8 is used for acquiring the foot pressure and the distribution information of the user, the auxiliary inertial measurement unit is used for acquiring the current gait phase information of the human body, the current walking environment and the motion state of the human body can be accurately identified and judged, a basis is provided for controlling the wearable ankle exoskeleton, the controller obtains a prediction analysis result according to the information of the pressure sensor and sends a control instruction to control the driving action of the power device 32, so that the gait adjustment of the user is assisted, and the user can keep normal walking with natural and efficient gait.

Preferably, referring to fig. 1 together, as a specific embodiment of the wearable ankle exoskeleton provided by the present invention, the pressure sensor 8 is a strain gauge type pressure sensor located in the sole of the foot boot or a plantar pressure insole having the strain gauge type pressure sensor. Thus, the strain gauge type pressure sensor 8 can sense foot pressure signals (pressure data), convert the pressure signals into electric signals and transmit the electric signals to the controller, and the controller sends control commands and controls the power device 32 to act, so that various actions of the wearable ankle exoskeleton similar to the human ankle of the user can be realized better, gait adjustment of the user is assisted, and the user can keep walking normally with natural and efficient gait.

Preferably, the driving motor 321 is a speed reducing motor, the driving device further comprises a first encoder and a second encoder, the first encoder is installed on the motor output shaft, the second encoder is installed on the output end of the speed reducer, the first encoder is used for measuring the rotation angle information of the motor output shaft, and meanwhile the second encoder is used for measuring the rotation angle information of the output shaft end after the speed reduction of the speed reducer, so that the closed-loop control of the driving motor 321 on the wire winding wheel 322 and the steel wire rope 311 is realized, the power-assisted parameter of the driving motor 321 can be accurately adjusted, and the power-assisted performance of the wearable ankle joint.

Further, as a specific embodiment of the wearable ankle exoskeleton provided by the present invention, the wearable ankle exoskeleton comprises a wearable power assisting mechanism for assisting the plantar flexion of the ankle, a driving control system for driving and controlling the wearable power assisting mechanism to provide the user with assistance to assist the movement of the ankle consistent with the gait of the user, and a gait recognition system for recognizing the real-time movement intention or walking state of the user, wherein the gait recognition system comprises one or more combinations of a plantar pressure measurement unit and an inertia measurement unit, the inertia measurement unit comprises at least one inertial sensor for acquiring the movement parameters of the leg of the user in real time and feeding back the parameters to the driving control system, and the movement intention and walking state of the user are recognized through one or more pressures and inertial data of the gait recognition system, the real-time walking state and characteristics of the human body, such as a gait cycle, the foot landing time, the foot leaving time and the like, are obtained, so that a basis is provided for the driving control system to control the walking assistance time and magnitude of the assistance device.

Preferably, in this embodiment, the sole pressure sensor 8 is embedded in the bottom of the shoe worn by the foot of the user in the form of a sole pressure insole, so as to obtain the information of the size and distribution of the sole pressure; and adopt 3 inertial sensor simultaneously, arrange respectively in the first sensor 5 of human upper foot face, arrange in the second sensor 6 of human shank front side and arrange in the third sensor 7 of human thigh front side, the gesture information of corresponding position when measurable quantity user walks, can accurately discern and judge human current walking environment and state through plantar pressure sensor and 3 inertial sensor, and acquire corresponding walking characteristic information, provide the basis for the control of wearing formula ankle joint ectoskeleton, thereby can realize accurate, the high-efficient helping hand to the ankle joint in human walking process, energy consumption and ankle joint moment when effectively reducing human walking.

Preferably, in this embodiment, the wearable power assisting mechanism comprises the ankle wearing component 1 and the leg wearing component 2 which are rotatably connected through the pivot 4, and the driving control system mainly comprises a driving motor 321 for pulling the steel wire 311 of the bowden cable 31, a portable box 323 for accommodating the driving motor, a battery 324 for supplying power to the driving motor, and a single chip microcomputer which is arranged in the portable box 323 and used for controlling the driving motor, so that the single chip microcomputer in the portable box 323 controls the operation of the driving motor 321, the driving motor 321 drives the reel 322 to rotate to wind the steel wire 311 for pulling the bowden cable 31, and then the wearable power assisting mechanism at the ankle joint is driven through the steel wire 311, thereby assisting the ankle joint to bend and pedal the ground in the walking process of the user, and reducing the energy consumption and the ankle joint moment when the human body walks. In addition, in the portable box body 323, 2 encoders are respectively arranged at the tail end of the driving motor and the output shaft end, and the 2 encoders are used for measuring the rotation angle information of the motor end and the output shaft end after being decelerated by the gear box, so that the position closed-loop control of the wire rope 311 of the winding wheel 322 and the Bowden cable 31 is realized, and the power assisting performance and parameters of the wearable ankle exoskeleton system can be accurately adjusted. The weight of the drive control system is mainly concentrated on the portable box body 323 and the battery 314, the two parts are respectively fixed on the front side and the rear side (or the left side and the right side) of the waist of a human body through the elastic fixing belt, the drive control system is convenient to wear and disassemble, and the symmetrical arrangement mode is also favorable for the whole quality of the drive control system and the uniform distribution of the load of the human body, so that the influence and discomfort caused by the normal movement of the human body by the weight of the portable drive box and the battery are effectively reduced.

To sum up, the embodiment of the utility model provides a wearable ankle joint ectoskeleton system, wearable assist drive device part passes through rigidity and flexible bonding, when providing good wearing travelling comfort and adaptability, compact structure, the helping hand is high-efficient steady, it is convenient to dress and dismantle, load distribution to the human body is comparatively even, it is better with the use travelling comfort, and discern human motion intention and state through human motion intention and state identification system (inertial measurement unit, sole distributed pressure sensor), acquire real-time human walking state and characteristic, can realize at human walking in-process accurate to ankle joint, high-efficient helping hand, energy consumption and ankle joint moment when effectively reducing human walking.

The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims (10)

1. A wearable ankle exoskeleton comprising an ankle wearing assembly for connection to a boot of a user's foot, a leg wearing assembly for securing to a user's calf, and a power assist device for providing power assist to plantar flexion of the user's ankle, the ankle wearing assembly being pivotally connected to the leg wearing assembly, the power assist device comprising a bowden cable for pulling the ankle wearing assembly to rotate relative to the leg wearing assembly, a power device for pulling the bowden cable in tension, and a waist belt for binding the power device to the user's waist; the bowden cable is including being used for the pulling the subassembly is dressed to the ankle winds pivot's wire rope and being used for the guide the tensile wire cover of wire rope, the top of wire cover is fixed in power device is last, the bottom mounting of wire cover is in on the subassembly is dressed to the shank, the one end of wire rope with power device's output links to each other, the other end of wire rope with the subassembly is dressed to the ankle links to each other.

2. The wearable ankle exoskeleton of claim 1 wherein: the power device comprises a driving motor connected with the waistband and a reel connected with an output shaft of the driving motor, and one end of the steel wire rope is fixed on the reel.

3. The wearable ankle exoskeleton of claim 2 wherein: the outer peripheral surface of the reel is concavely provided with a winding groove for winding the steel wire.

4. The wearable ankle exoskeleton of any of claims 1 to 3 wherein: the ankle wearing assembly comprises a sole fixing part and two rotary supporting arms, wherein the sole fixing part is used for being fixed on shoes and boots of a user, the two rotary supporting arms are arranged on two opposite sides of the sole fixing part respectively, the top ends of the rotary supporting arms are respectively connected with the leg wearing assembly in a rotating mode through pivots, and the other end of the steel wire rope is connected with the sole fixing part.

5. The wearable ankle exoskeleton of claim 4 wherein: the leg wearing assembly comprises a leg fixing piece used for wearing and fixing on a user shank and two leg supporting arms respectively arranged on two opposite sides of the leg fixing piece, and the bottom ends of the two leg supporting arms are respectively connected with the top ends of the two rotating supporting arms through the pivot shaft in a rotating mode.

6. The wearable ankle exoskeleton of claim 5 wherein: the arrangement position of the pivot corresponds to the position of an ankle joint of a user, each leg supporting arm comprises a lower vertical section and an upper bending section which bends towards the direction of the pivot from the top end of the lower vertical section, the bottom end of the lower vertical section is rotatably connected with the top end of the corresponding rotating supporting arm through the pivot, and one end, far away from the lower vertical section, of the upper bending section is fixedly connected with the leg fixing piece.

7. The wearable ankle exoskeleton of claim 5 wherein: the leg mount includes a rigid support frame for wearing and supporting on the user's lower leg and a strap for binding the rigid support frame to the user's lower leg.

8. The wearable ankle exoskeleton of any of claims 1 to 3 wherein: the wearable ankle exoskeleton further comprises an inertia measurement unit used for monitoring and feeding back a gait phase of a user, and a controller used for receiving the gait phase information fed back by the inertia measurement unit and sending a control instruction to control the power device to assist the gait adjustment of the user, wherein the inertia measurement unit comprises at least one inertia sensor used for acquiring the motion parameters of the leg of the user in real time and feeding back the motion parameters to the controller.

9. The wearable ankle exoskeleton of claim 8 wherein: the inertial measurement unit comprises a first inertial sensor arranged on the foot of the user, a second inertial sensor arranged on the front side of the lower leg of the user and a third inertial sensor arranged on the front side of the thigh of the user.

10. The wearable ankle exoskeleton of claim 8 wherein: the wearable ankle exoskeleton further comprises a pressure sensor used for acquiring the sole pressure and the distribution of the user and feeding back the sole pressure to the controller.

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