TWM549619U - Exoskeleton auxiliary device - Google Patents
Exoskeleton auxiliary device Download PDFInfo
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- TWM549619U TWM549619U TW105218879U TW105218879U TWM549619U TW M549619 U TWM549619 U TW M549619U TW 105218879 U TW105218879 U TW 105218879U TW 105218879 U TW105218879 U TW 105218879U TW M549619 U TWM549619 U TW M549619U
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Description
本創作係有關於一種輔助裝置，尤指用於輔助外骨骼助行裝置進行作動之一種外骨骼輔助裝置。 The present invention relates to an auxiliary device, and more particularly to an exoskeleton assist device for assisting an exoskeleton assist device to operate.
受到全球出生率下降和平均壽命延長的影響，全球人口全面邁入高齡化社會。依據聯合國的預測，2050年全球總人口將達到91.5億人，其中65歲以上人口的比例約占全球總人口的16%。高齡化人口衍生的醫療照護的需求也將隨之增加，進而帶動全球醫藥品市場的擴展。 Affected by the decline in global birth rates and the extension of life expectancy, the global population is fully integrated into an aging society. According to the United Nations, the total population of the world will reach 9.15 billion in 2050, and the proportion of people over 65 will account for about 16% of the global population. The demand for medical care derived from an aging population will also increase, which will lead to the expansion of the global pharmaceutical market.
歐美先進各國在醫療支出成本不斷攀升的情況下，愈來愈重視疾病的早期預防，對於個人化預防醫學的關注度也不斷提升，因此非醫療型的居家照護醫療器材產品需求大增，另外，居家照護醫療器材產品以往市場主要是在歐美地區，但隨著中國大陸等新興國家也陸續面臨高齡化社會的議題，亦將帶動居家醫療器材與高齡照護醫療器材的需求，成為新的需求市場，也為我國醫療器材廠商帶來發展機會。 The advanced countries in Europe and the United States are paying more and more attention to the early prevention of diseases, and the attention to personalized preventive medicine is increasing. Therefore, the demand for non-medical home care medical equipment products has increased greatly. In the past, the market for home care medical equipment was mainly in Europe and the United States. However, as emerging countries such as mainland China are also facing the issue of an aging society, they will also drive the demand for home medical equipment and advanced care medical equipment to become a new demand market. It also brings development opportunities for medical equipment manufacturers in China.
銀髮族群由於生活能力及行動能力的減低，大部分的活動將限制於家中，造成高齡者在家中的時間逐漸增長，輕則帶來生活上的不便，重則需要全天候的照護，所以高齡者可能因為肌力衰退、平衡能力下降、跌倒病史、視覺障礙、步態異常、認知能力減弱、關節炎、低身體活動量、心血管疾病、 心理因素、藥物副作用，所以行動需使用輪椅、手杖或助行器。為了方便老年人行動，因此，現在已經出現了外骨骼助行裝置(支架)，其可輔助下半身行動不便者穿戴，並且能夠具有站立與行走能力。 Due to the reduction of living ability and mobility, most of the activities of the silver-haired ethnic group will be limited to the home, causing the elderly to grow at home gradually, which will bring inconvenience in life, but also need all-weather care, so the elderly may be because Decreased muscle strength, decreased balance, history of falls, visual impairment, abnormal gait, cognitive decline, arthritis, low physical activity, cardiovascular disease, Psychological factors, side effects of drugs, so the action requires a wheelchair, a cane or a walker. In order to facilitate the action of the elderly, an exoskeleton walking device (bracket) has now appeared, which can assist the lower body to wear, and can have standing and walking ability.
此種外骨骼助行裝置上需要具備多個馬達，將多個馬達安裝於關節處，並該些個馬達還需要於負擔起人體重量的同時，產生足夠的動能，才能完成人體關節的作動。再者，外骨骼助行裝置於操控上也可透過控制單元或多個感測元件。利用控制單元能夠確實的實施外骨骼支架的基本動作，但是使用上較不靈活。亦或是，利用感測元件直接偵測人體的重心擺動，來直接驅動外骨骼助行裝置作動。上述的各種情事不論是馬達驅動或控制作動都需要耗費大量的電能。因此有關於外骨骼助行裝置的電能儲備配件也會相對應的較為大型與配件重量較重等等缺點。 Such an exoskeleton walking device needs to have a plurality of motors, and a plurality of motors are installed at the joints, and the motors need to generate sufficient kinetic energy to carry out the joint movement of the human body while burdening the human body. Furthermore, the exoskeleton assist device can also be manipulated through the control unit or a plurality of sensing elements. The basic action of the exoskeleton bracket can be implemented with the control unit, but it is less flexible in use. Or, the sensing element directly detects the swing of the center of gravity of the human body to directly drive the exoskeleton walking device to act. All of the above-mentioned situations require a large amount of electrical energy, whether it is motor drive or control actuation. Therefore, there are disadvantages such as the relatively large size of the electric energy storage fittings of the exoskeleton walking device and the heavy weight of the accessories.
故，針對於習知技術之缺點，本創作提供一種外骨骼輔助裝置，其可作為外骨骼助行裝置之輔助配件。當外骨骼助行裝置搭配外骨骼輔助裝置進行使用時，能夠於使用時節省大量的電能，以延長外骨骼助行裝置之使用時間。 Therefore, in view of the shortcomings of the prior art, the present invention provides an exoskeleton assist device that can be used as an accessory for an exoskeleton assist device. When the exoskeleton assist device is used with the exoskeleton assist device, it can save a lot of power during use to prolong the use time of the exoskeleton walking device.
本創作之一目的，在於提供一種外骨骼輔助裝置，其可應用於外骨骼助行裝置，以輔助外骨骼裝置之支撐力與行動力，如此能替外骨骼助行裝置省下大量電能，以延長外骨骼助行裝置之使用時間。 One of the aims of the present invention is to provide an exoskeleton assisting device which can be applied to an exoskeleton assisting device to assist the supporting force and the acting force of the exoskeleton device, thereby saving a large amount of electric energy for the exoskeleton assisting device. Extend the use of the exoskeleton assist device.
本創作之一目的，在於提供一種外骨骼輔助裝置，其中可提供外骨骼助行裝置於平面道路上的騎乘功能。 One of the aims of the present invention is to provide an exoskeleton assisting device in which the riding function of the exoskeleton walking device on a flat road can be provided.
本創作有關於一種外骨骼輔助裝置，用以結合於一外骨骼助行裝置，該外骨骼輔助裝置包含二助行模組，每一該助行模組包含：一支架單元，其具有一主體支架、一前支架、一後支架與二輪件，該前支架之一端樞接於該主體支架之一端，該後支架一端樞接於該主體支架之另一端，該二輪件分別設置於該前支架之另一端與該後支架之另一端；一伸縮桿單元，其兩端分別樞接於該前支架之一側與該後支架之一側；以及一控制單元，其控制該伸縮桿單元。 The present invention relates to an exoskeleton assisting device for coupling to an exoskeleton assisting device, the exoskeleton assisting device comprising two walking aid modules, each of the walking assisting modules comprising: a bracket unit having a body a bracket, a front bracket, a rear bracket and a second wheel member, wherein one end of the front bracket is pivotally connected to one end of the main body bracket, and one end of the rear bracket is pivotally connected to the other end of the main body bracket, and the two wheel members are respectively disposed on the front bracket The other end and the other end of the rear bracket; a telescopic rod unit, the two ends of which are respectively pivotally connected to one side of the front bracket and one side of the rear bracket; and a control unit that controls the telescopic rod unit.
本創作提供一實施例，其揭露該控制單元用以接收該外骨骼助行裝置發出的一驅動訊號，並依據該驅動訊號驅動該伸縮桿單元。 The present invention provides an embodiment, wherein the control unit is configured to receive a driving signal sent by the exoskeleton walking device, and drive the telescopic rod unit according to the driving signal.
本創作提供一實施例，其揭露該控制單元以有線連接或無線連接之方式，而連接於該外骨骼助行裝置。 The present invention provides an embodiment in which the control unit is connected to the exoskeleton walking device in a wired connection or a wireless connection.
本創作提供一實施例，其揭露該驅動訊號更包含一步行訊號與一爬梯訊號。 The present invention provides an embodiment, which discloses that the driving signal further includes a walking signal and a ladder signal.
本創作提供一實施例，其揭露該控制單元接收該步行訊號，並對應該步行訊號而控制該伸縮桿單元。 The present invention provides an embodiment in which the control unit receives the walking signal and controls the telescopic rod unit for the walking signal.
本創作提供一實施例，其揭露該伸縮桿單元之兩端向外伸展拉長而推動該前支架與該後支架移動，每一該助行模組之該二輪件抵撐於地面，並驅使該二輪件轉動。 The present invention provides an embodiment in which the two ends of the telescopic rod unit are extended outwardly to push the front bracket and the rear bracket to move, and the two wheel members of each of the walking aid modules abut on the ground and drive The two-wheel member rotates.
本創作提供一實施例，其揭露該控制單元接收該爬梯訊號，並對應該爬梯訊號控制該伸縮桿單元。 The present invention provides an embodiment, which discloses that the control unit receives the ladder signal and controls the telescopic rod unit for the ladder signal.
本創作提供一實施例，其揭露該伸縮桿單元之兩端向內收縮變短而拉合該前支架與該後支架移動，該後支架疊於該前支架之一側，並每一該助行模組反轉向該外骨骼助行裝置之一側。 The present invention provides an embodiment, which discloses that both ends of the telescopic rod unit are inwardly contracted and shortened to pull the front bracket and the rear bracket to move, and the rear bracket is stacked on one side of the front bracket, and each of the supports The row module is reversed to one side of the exoskeleton assist device.
1‧‧‧外骨骼輔助裝置 1‧‧‧Exoskeleton support
10‧‧‧助行模組 10‧‧‧Help module
11‧‧‧支架單元 11‧‧‧ bracket unit
111‧‧‧主體支架 111‧‧‧ body bracket
113‧‧‧前支架 113‧‧‧ front bracket
115‧‧‧後支架 115‧‧‧ rear bracket
117‧‧‧輪件 117‧‧‧ Wheels
13‧‧‧伸縮桿單元 13‧‧‧ Telescopic rod unit
15‧‧‧控制單元 15‧‧‧Control unit
2‧‧‧外骨骼助行裝置 2‧‧‧Exoskeleton assist device
21‧‧‧外骨骼支架 21‧‧‧Exoskeleton bracket
210‧‧‧支撐件 210‧‧‧Support
22‧‧‧外骨骼驅動器 22‧‧‧Exoskeleton Drive
23‧‧‧負載模組 23‧‧‧Load Module
第一圖：其為本創作之外骨骼輔助裝置之示意圖；第二圖：其為本創作之外骨骼輔助裝置之組裝示意圖；第三圖：其為本創作之外骨骼輔助裝置之使用示意圖；第四圖：其為本創作之外骨骼輔助裝置之步行使用示意圖；以及第五圖：其為本創作之外骨骼輔助裝置之爬梯使用示意圖。 The first picture is a schematic diagram of the exoskeleton auxiliary device for the creation; the second picture: the assembly diagram of the external bone support device for the creation; the third picture: the schematic diagram of the use of the external bone support device for the creation; The fourth picture: it is a schematic diagram of the walking use of the exoskeleton auxiliary device for the creation; and the fifth picture: it is a schematic diagram of the use of the ladder for the external bone assist device.
為使 貴審查委員對本創作之特徵及所達成之功效有更進一步之瞭解與認識，謹佐以較佳之實施例及配合詳細之說明，說明如後：請參閱第一圖與第二圖，其為本創作之外骨骼輔助裝置之示意圖與外骨骼輔助裝置之組裝示意圖。如圖所示，本創作提供一種外骨骼輔助裝置1，其可用於輔助一外骨骼助行裝置2進行使用。外骨骼助行裝置2係用於輔助行動不便者之輔助器材，使用者可透過外骨骼助行裝置2達到步行與爬梯等作動方式。本實施例之外骨骼輔助裝置1則是用於輔助外骨骼助行裝置2作為輔助提供額外的支撐力與行動力等等，如此可替外骨骼助行裝置2省下大量的電能，而能進一步的延長外骨骼助行裝置2之使用時間。 In order to give your reviewers a better understanding and understanding of the characteristics of the creation and the efficacies achieved, please refer to the preferred embodiment and the detailed description as follows: please refer to the first and second figures, The schematic diagram of the schematic diagram of the exoskeleton assisting device and the assembly of the exoskeleton auxiliary device. As shown, the present application provides an exoskeleton assist device 1 that can be used to assist an exoskeleton walking device 2 in use. The exoskeleton assisting device 2 is used to assist an auxiliary device for people with reduced mobility, and the user can achieve walking and climbing exercises through the exoskeleton walking device 2. The exoskeleton assisting device 1 of the present embodiment is for assisting the exoskeleton walking device 2 as an auxiliary to provide additional supporting force and action force, etc., so that the exoskeleton walking device 2 can save a large amount of electric energy, and The use time of the exoskeleton walking device 2 is further extended.
有關於上述之外骨骼助行裝置2包含固定型與非固定型兩種型式，並可再依據使用者穿戴於身體上的部位，而可分成全身型、下肢型與上肢型等等。於本實施例中，外骨骼輔助裝置1可裝配於非固定型的外骨骼助行裝置2型式，並適用於穿戴全身型與下肢型兩種。其中外骨骼輔助裝置1能夠配合多種類的外骨骼助行裝置2，例如久蹲用輔助外骨骼、高齡者外骨骼或是身心障礙者之外骨骼等等。 The above-mentioned exoskeleton walking device 2 includes both a fixed type and a non-fixed type, and can be further divided into a whole body type, a lower limb type, an upper limb type, and the like according to a part worn by the user on the body. In the present embodiment, the exoskeleton assisting device 1 can be assembled to the non-fixed type of exoskeleton walking device 2, and is suitable for wearing both the whole body type and the lower limb type. The exoskeleton assisting device 1 can be combined with a variety of exoskeleton assisting devices 2, such as an auxiliary exoskeleton for a long time, an exoskeleton for an elderly person, or an exoskeleton for a physically and mentally handicapped person.
請一併參閱第三圖，其為本創作之外骨骼輔助裝置之使用示意圖。如圖所示，本實施例之外骨骼助行裝置2包含一外骨骼支架21與一外骨骼驅動器22。外骨骼驅動器22驅動外骨骼支架21進行作動。外骨骼輔助裝置1包含二助行模組10。每一助行模組10包含一支架單元11、一伸縮桿單元13與一控制單元15。支架單元11具有一主體支架111、一前支架113、一後支架115與二輪件117。前支架113之一端樞接於主體支架111之一端。後支架115之一端樞接於主體支架111之一側，二輪件117分別設置於前支架113之另一端與後支架115之另一端。伸縮桿單元13之兩端分別樞接於前支架113之一側與後支架115之一側。控制單元15控制伸縮桿單元13。其中二助行模組10之後支架115之一端分別用於固接於外骨骼助行裝置2之一支撐件210的兩側，其中該支撐件210為外骨骼支架21支撐重心之部分，大部分來說係對應於使用者之臀部位置。 Please refer to the third figure, which is a schematic diagram of the use of the exoskeleton auxiliary device. As shown, the exoskeleton walking device 2 of the present embodiment includes an exoskeleton bracket 21 and an exoskeleton driver 22. The exoskeleton driver 22 drives the exoskeleton bracket 21 to actuate. The exoskeleton assist device 1 includes two walking aid modules 10. Each of the walking aid modules 10 includes a bracket unit 11 , a telescopic rod unit 13 and a control unit 15 . The bracket unit 11 has a main body bracket 111, a front bracket 113, a rear bracket 115 and two wheel members 117. One end of the front bracket 113 is pivotally connected to one end of the main body bracket 111. One end of the rear bracket 115 is pivotally connected to one side of the main body bracket 111, and the two wheel members 117 are respectively disposed at the other end of the front bracket 113 and the other end of the rear bracket 115. The two ends of the telescopic rod unit 13 are respectively pivotally connected to one side of the front bracket 113 and one side of the rear bracket 115. The control unit 15 controls the telescopic rod unit 13. The two ends of the brackets 115 are respectively fixed to the two sides of the support member 210 of the exoskeleton walking device 2, wherein the support member 210 is a part of the center of gravity supported by the exoskeleton bracket 21, most of which It corresponds to the user's hip position.
更進一步來說，二助行模組10之主體支架111與前支架113也可分別設置固定結構(未圖示)，此固定結構可分別將主體支架111固定於使用者之外骨骼支架21之大腿支架部分(或使用者之大腿上)，而前支架113固定於使用者 之外骨骼支架21之小腿支架部分(或使用者之小腿)。以上述固接方式可使外骨骼輔助裝置1與外骨骼助行裝置2之間的輔助作用力與支撐力更好。 Furthermore, the main body bracket 111 and the front bracket 113 of the second mobility aid module 10 can also be respectively provided with a fixing structure (not shown), which can respectively fix the main body bracket 111 to the outer exoskeleton bracket 21 of the user. The thigh bracket portion (or the user's thigh), and the front bracket 113 is fixed to the user The calf support portion of the outer bone support 21 (or the user's lower leg). The auxiliary force and supporting force between the exoskeleton assisting device 1 and the exoskeleton walking device 2 can be better in the above-mentioned fixing manner.
又，控制單元15可用有線連接或無線連接之方式而連接於外骨骼驅動器22，並外骨骼驅動器22以有線傳輸或無線傳輸方式發送驅動訊號，控制單元15接收來自於外骨骼驅動器22發出之驅動訊號，進而控制伸縮桿單元13之伸縮。其中驅動訊號包含步行訊號與爬梯訊號等兩種。 Moreover, the control unit 15 can be connected to the exoskeleton driver 22 by means of a wired connection or a wireless connection, and the exoskeleton driver 22 transmits the drive signal by wire transmission or wireless transmission, and the control unit 15 receives the drive from the exoskeleton driver 22. The signal, in turn, controls the expansion and contraction of the telescopic rod unit 13. The driving signals include two types: walking signals and ladder signals.
請參閱第四圖與第五圖，其為本創作之外骨骼輔助裝置之步行使用示意圖與爬梯使用示意圖。如圖所示，以一般外骨骼助行裝置2來說，其通常於使用上可分為於平地上的步行與樓梯有高度差異地形的爬升之兩種人體行動狀態。 Please refer to the fourth and fifth figures, which are schematic diagrams of walking use and ladder use of the exoskeleton auxiliary device. As shown in the figure, in the case of the general exoskeleton walking device 2, it is generally used in two types of human body action states that can be divided into a climb on the ground and a height difference between the stairs and the stairs.
於本實施例中，當外骨骼助行裝置2處於步行狀態，則外骨骼助行裝置2之外骨骼驅動器22發出一步行訊號給外骨骼支架21。外骨骼輔助裝置1之控制單元15也會同時接收到此步行訊號，而控制單元15對應此步行訊號而控制伸縮桿單元13。伸縮桿單元13之兩端向外伸展拉長而推動前支架113與後支架115移動，其中前支架113之一端與後支架115之一端受限於主體支架111進行樞轉，並使前支架113與後支架115之二輪件117能抵撐於地面(即從第三圖之使用狀態轉變成第四圖之步行使用狀態)。 In the present embodiment, when the exoskeleton walking device 2 is in a walking state, the exoskeleton walking device 2 exoskeleton driver 22 sends a walking signal to the exoskeleton bracket 21. The control unit 15 of the exoskeleton auxiliary device 1 also receives the walking signal at the same time, and the control unit 15 controls the telescopic rod unit 13 corresponding to the walking signal. The two ends of the telescopic rod unit 13 are extended outwardly to push the front bracket 113 and the rear bracket 115 to move, wherein one end of the front bracket 113 and one end of the rear bracket 115 are limited to be pivoted by the main body bracket 111, and the front bracket 113 is pivoted. The two wheel members 117 with the rear bracket 115 can withstand the ground (i.e., transition from the use state of the third figure to the pedestrian use state of the fourth figure).
再者，本實施例之前支架113具有伸縮功能。當伸縮桿單元13之兩端向外伸展拉長而推動前支架113的同時，前支架113之一端也順勢向外伸展，而抵頂主體支架111抬升，而使外骨骼輔助裝置1之主體支架111與前支架113之連接方式呈彎曲狀態。如此當使用者於步行狀態下，外骨骼輔助裝置1變形成騎乘狀態，即外骨骼輔助裝置1之結構能夠相對應於使用者之坐姿 狀態。換言之，主體支架111相對於使用者之大腿部分，而前支架113相對使用者之小腿部分，上述方式之外骨骼輔助裝置1能夠提供使用者於坐姿狀態下較好的支撐力。 Furthermore, the bracket 113 has a telescopic function before this embodiment. When the two ends of the telescopic rod unit 13 are stretched outward to push the front bracket 113, one end of the front bracket 113 also extends outward, and the abutting main body bracket 111 is lifted, so that the main body bracket of the exoskeleton auxiliary device 1 The connection between the 111 and the front bracket 113 is curved. Thus, when the user is walking, the exoskeleton assisting device 1 is changed into a riding state, that is, the structure of the exoskeleton assisting device 1 can correspond to the sitting posture of the user. status. In other words, the main body bracket 111 is opposite to the thigh portion of the user, and the front bracket 113 is opposite to the lower leg portion of the user. In the above manner, the exoskeleton assisting device 1 can provide a better supporting force for the user in the sitting position.
承上所述，藉由二助行模組10分別支撐於外骨骼助行裝置2之兩側，並使外骨骼助行裝置2支撐使用者身體呈懸空狀態，而間接形成使用者乘坐於外骨骼輔助裝置1上之狀態。此時，使用者能夠透過外骨骼輔助裝置1之二輪件117轉動，而進行前進或後退的移動方式(如輪椅的使用方式)。更進一步來說，二輪件117有分別相對應的驅動馬達(未圖示)，而透過控制單元15驅動驅動馬達後，可驅使每一該助行模組10之二輪件117轉動。如此使用者騎乘於外骨骼助行裝置2，進而可移動於平面上(如道路)。 As described above, the two walking aid modules 10 are respectively supported on both sides of the exoskeleton walking device 2, and the exoskeleton walking device 2 supports the user's body to be suspended, and indirectly forms the user to ride outside. The state on the bone assist device 1. At this time, the user can move forward or backward through the rotation of the second wheel member 117 of the exoskeleton assisting device 1 (for example, the manner in which the wheelchair is used). Furthermore, the two wheel members 117 have corresponding drive motors (not shown), and after driving the drive motor through the control unit 15, the two wheel members 117 of each of the walker modules 10 can be driven to rotate. The user then rides on the exoskeleton walking device 2, which in turn can be moved on a plane (such as a road).
於習知技術中，外骨骼助行裝置於步行狀態下，需要外骨骼驅動器發出複雜的控制訊號，以控制外骨骼支架作動，進而支配使用者之身體進行多種動作控制，如抬腳、曲膝，前伸踏步等等，再以連貫動作方式進行作動，則呈步行狀態。上述動作複雜所以需要驅動控制多個馬達轉動，而耗費大量的電能。 In the prior art, the exoskeleton walking device requires a complex control signal from the exoskeleton driver to control the movement of the exoskeleton bracket, thereby controlling the body of the user to perform various motion control, such as lifting the foot and bending the knee. Stretching forward, etc., and then acting in a coherent manner, it is walking. The above-mentioned actions are complicated, so it is necessary to drive and control the rotation of a plurality of motors, and it consumes a large amount of electric energy.
故，本創作提供一種外骨骼輔助裝置1改良上述缺點，其透過外骨骼輔助裝置1輔助提供外骨骼助行裝置2額外支撐力與作動力。當外骨骼助行裝置2於步行狀態時，其透過外骨骼輔助裝置1之結構狀態變形，使外骨骼輔助裝置1之每一助行模組10的二輪件117接觸於地面，並支撐住使用者，再由控制單元15驅動每一該助行模組10之二輪件117進行轉動，即可進行平面位移，進而代替外骨骼助行裝置2輔助使用者進行平面位移之方式。如此外骨骼輔助裝置1輔助外骨骼助行裝置2之平面位移作動，進而省下外骨骼助行裝 置2控制多數個馬達進行平面位移所產生的電能消耗，而有利於延長該外骨骼助行裝置2之使用時間。 Therefore, the present invention provides an exoskeleton assisting device 1 which improves the above disadvantages and which assists in providing additional support and power to the exoskeleton assisting device 2 through the exoskeleton assisting device 1. When the exoskeleton assisting device 2 is in a walking state, it is deformed through the structural state of the exoskeleton assisting device 1, so that the two-wheel member 117 of each of the assisting modules 10 of the exoskeleton assisting device 1 contacts the ground and supports the user. Then, the control unit 15 drives the two wheel members 117 of each of the walking assisting modules 10 to rotate, thereby performing plane displacement, thereby replacing the way the exoskeleton walking device 2 assists the user in plane displacement. For example, the bone assisting device 1 assists the plane displacement of the exoskeleton walking device 2, thereby saving the exoskeleton assisting device. Setting 2 controls the power consumption caused by the planar displacement of a plurality of motors, and is advantageous for extending the use time of the exoskeleton walking device 2.
請復參閱第五圖，當外骨骼助行裝置2處於爬梯狀態，則外骨骼助行裝置2之外骨骼驅動器22發出一爬梯訊號給外骨骼支架21。外骨骼輔助裝置1之控制單元15也會同時接收到此爬梯訊號，而控制單元15對應此爬梯訊號而控制伸縮桿單元13。伸縮桿單元13之兩端向內收縮變短而拉合前支架113與後支架115移動，其中前支架113之一端與後支架115之一端受限於主體支架111進行樞轉，而該後支架疊於該前支架之一側(如第三圖所示)。再進一步，將外骨骼輔助裝置1之助行模組10反轉向外骨骼助行裝置之一負載模組23(如電能儲備單元等)之兩側收納(即從第三圖之使用狀態轉變成第四圖之爬梯使用狀態)。外骨骼助行裝置2自行驅動進行爬梯作動，即外骨骼輔助裝置1於收納後，並不會影響到外骨骼助行裝置2之作動。於本實施例中，使用者背負負載模組23，換言之，外骨骼輔助裝置1於爬梯狀態下，係收納於靠近使用者之後背部位置。 Referring to the fifth figure, when the exoskeleton walking device 2 is in the ladder state, the exoskeleton walking device 2 exoskeleton driver 22 sends a ladder signal to the exoskeleton bracket 21. The control unit 15 of the exoskeleton auxiliary device 1 also receives the ladder signal at the same time, and the control unit 15 controls the telescopic rod unit 13 corresponding to the ladder signal. The two ends of the telescopic rod unit 13 are contracted inwardly and shortened to pull the front bracket 113 and the rear bracket 115 to move, wherein one end of the front bracket 113 and one end of the rear bracket 115 are restricted to pivot by the main body bracket 111, and the rear bracket is pivoted Stacked on one side of the front bracket (as shown in the third figure). Further, the walking module 10 of the exoskeleton auxiliary device 1 is reversed on both sides of the load module 23 (such as the electric energy storage unit, etc.) of one of the exoskeleton walking devices (ie, from the use state of the third figure) Into the fourth map of the ladder use state). The exoskeleton assisting device 2 drives the ladder to operate by itself, that is, the exoskeleton assisting device 1 does not affect the actuation of the exoskeleton walking device 2 after being stored. In the present embodiment, the user carries the load module 23, in other words, the exoskeleton assist device 1 is stored in the back position near the user in the ladder state.
綜上所述，本創作提供一種外骨骼輔助裝置，其包含二助行模組。該二助行模組分別設置於外骨骼支架之兩側，其每一該助行模組包含：一支架單元、一伸縮桿單元與一控制單元。本創作透過可提供外骨骼助行裝置相關的輔助外力。當外骨骼助行裝置於步行狀態下，外骨骼輔助裝置能夠提供該外骨骼助行裝置額外的行動力與支撐力。如此可省下大量的外骨骼助行裝置的電源，可延長外骨骼助行裝置之使用時間，使用者可依據需求選擇使用適當的功能。 In summary, the present invention provides an exoskeleton assist device comprising two walking aid modules. The two assisting modules are respectively disposed on two sides of the exoskeleton bracket, and each of the assisting modules comprises: a bracket unit, a telescopic rod unit and a control unit. This creation provides an auxiliary external force related to the exoskeleton assist device. When the exoskeleton assist device is in a walking state, the exoskeleton assisting device can provide additional mobility and support for the exoskeleton assist device. This saves a lot of power for the exoskeleton walking device, which can extend the use time of the exoskeleton walking device, and the user can select the appropriate function according to the requirement.
由上述可知，本創作確實已經達於突破性之結構，而具有改良之新型內容，同時又能夠達到產業上利用性與進步性，當符合專利法之規定，爰依法提出新型專利申請，懇請 鈞局審查委員授予合法專利權，至為感禱。 It can be seen from the above that this creation has indeed reached a breakthrough structure, and has improved new content, and at the same time, it can achieve industrial utilization and progress. When complying with the provisions of the Patent Law, it proposes a new type of patent application according to law. The Board of Review examiners granted legal patent rights and was praying.
1‧‧‧外骨骼輔助裝置 1‧‧‧Exoskeleton support
10‧‧‧助行模組 10‧‧‧Help module
11‧‧‧支架單元 11‧‧‧ bracket unit
111‧‧‧主體支架 111‧‧‧ body bracket
113‧‧‧前支架 113‧‧‧ front bracket
115‧‧‧後支架 115‧‧‧ rear bracket
117‧‧‧輪件 117‧‧‧ Wheels
13‧‧‧伸縮桿單元 13‧‧‧ Telescopic rod unit
15‧‧‧控制單元 15‧‧‧Control unit
Claims (8)
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| TW105218879U TWM549619U (en) | 2016-12-09 | 2016-12-09 | Exoskeleton auxiliary device |
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| Application Number | Priority Date | Filing Date | Title |
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| TW105218879U TWM549619U (en) | 2016-12-09 | 2016-12-09 | Exoskeleton auxiliary device |
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| Publication Number | Publication Date |
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| TWM549619U true TWM549619U (en) | 2017-10-01 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108127647A (en) * | 2018-02-13 | 2018-06-08 | 中山市沃倍特智能医疗机器人股份有限公司 | Long continuation of the journey and light-weighted intelligent exoskeleton robot |
| CN115157216A (en) * | 2022-07-13 | 2022-10-11 | 重庆理工大学 | A motion-adaptive weight-bearing lower extremity exoskeleton |
-
2016
- 2016-12-09 TW TW105218879U patent/TWM549619U/en unknown
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108127647A (en) * | 2018-02-13 | 2018-06-08 | 中山市沃倍特智能医疗机器人股份有限公司 | Long continuation of the journey and light-weighted intelligent exoskeleton robot |
| CN108127647B (en) * | 2018-02-13 | 2024-06-07 | 中山市沃倍特智能医疗器械股份有限公司 | Long-lasting and lightweight intelligent exoskeleton robot |
| CN115157216A (en) * | 2022-07-13 | 2022-10-11 | 重庆理工大学 | A motion-adaptive weight-bearing lower extremity exoskeleton |
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