US20220233388A9 - Assisted exoskeleton rehabilitation device - Google Patents
Assisted exoskeleton rehabilitation device Download PDFInfo
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- US20220233388A9 US20220233388A9 US16/488,730 US201916488730A US2022233388A9 US 20220233388 A9 US20220233388 A9 US 20220233388A9 US 201916488730 A US201916488730 A US 201916488730A US 2022233388 A9 US2022233388 A9 US 2022233388A9
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0244—Hip
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0281—Shoulder
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0218—Drawing-out devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0277—Elbow
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0292—Stretching or bending or torsioning apparatus for exercising for the spinal column
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1238—Driving means with hydraulic or pneumatic drive
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1623—Back
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5056—Control means thereof pneumatically controlled
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- Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Veterinary Medicine (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Biomedical Technology (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Neurology (AREA)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
- Prostheses (AREA)
Abstract
Description
- This patent application is a National Stage Entry of PCT/CN2019/073702 filed on Jan. 29, 2019, which claims the benefit and priority of Chinese Patent Application No. 201810272761.0 filed on Mar. 29, 2018, the disclosures of which are incorporated by reference herein in their entirety as part of the present application.
- Embodiments of the present disclosure relate to the field of biomimetic machinery, and in particular, to an assisted exoskeleton rehabilitation device driven by pneumatic muscles.
- In modern society, it is necessary to develop an assisted exoskeleton device to provide limbs and body support services for care workers when they carrying the elderly or patients. This can greatly reduce the physical labor intensity of the care workers while ensuring the safety of both patients and care workers, so that the care workers can work in an easy and efficient manner. For the elderly with degenerative muscle function, an assisted exoskeleton device can help them carry out self-service in their daily life. For patients with arm injuries, an exoskeleton device can help them perform daily rehabilitation training, so that they can quickly restore their body functions.
- The assisted exoskeleton rehabilitation device is a typical human-machine integrative system that performs specified functions and tasks under the control of the wearer by means of such technologies as sensing, control, information acquisition, and mobile computing. Most of the existing exoskeletons are driven by conventional motors, hydraulic cylinders, pneumatic cylinders, etc. This traditional driving method has the disadvantages of high cost, low power/mass ratio, oil leakage, and poor flexibility. Consequently, the exoskeleton product is too heavy to meet the requirements of portability and flexibility. Moreover, the price of exoskeleton product is high, such that it cannot be used widely.
- The present disclosure provides an assisted exoskeleton rehabilitation device having the advantages of simple structure, high safety, and high flexibility.
- The present disclosure provides an assisted exoskeleton rehabilitation device. The assisted exoskeleton rehabilitation device includes a back structure including a back crossbeam, a back supporting panel with an adjustable length, and a shoulder pneumatic muscle element mounted on the back supporting panel, an arm structure, a shoulder joint assembly, by which the arm structure is connected to an upper end of the back structure, and a waist structure, wherein an upper end of the back supporting panel is fixedly connected to the back crossbeam, and a lower end of the back supporting panel is fixedly connected to the waist structure, wherein the shoulder joint assembly includes a curved shoulder joint connecting panel, a shoulder traction wheel, a shoulder traction line, a first hinge mechanism and a second hinge mechanism, one end of the shoulder joint connecting panel is connected to the upper end of the arm structure by the first hinge mechanism to form a bend-stretch revolute pair of the shoulder joint assembly, and the other end of the shoulder joint connecting panel is connected to the back crossbeam by the second hinge mechanism to form an abduction-adduction revolute pair and a medial rotation-lateral rotation revolute pair of the shoulder joint assembly, and the shoulder traction wheel is fixed to the upper end of the arm structure, the shoulder traction line is connected at one end to the shoulder traction wheel, and connected to the shoulder pneumatic muscle element at the other end.
- In one embodiment of the present disclosure, there are also provided two thigh structures and a hip joint assembly. The two thigh structures are connected to the waist structure respectively through the hip joint assembly. The waist structure includes a waist transverse panel fixedly connected to a lower end of the back supporting panel and a waist pneumatic muscle element mounted on the thigh structure, the hip joint assembly includes a waist connection panel fixedly connected to the waist transverse panel, a hinged shaft, a first guide wheel fixed to the waist connection panel, a second guide wheel fixed to the thigh structure, and a waist traction line, wherein the hinge shaft connects the waist connection panel to the thigh structure to form a bend-stretch revolute pair of the hip joint, one end of the waist traction line extends through the second guide wheel and the first guide wheel and is fixed to the waist connection panel, and the other end thereof is connected to the waist pneumatic muscle element.
- In one embodiment of the present disclosure, the thigh structure includes a thigh panel and a thigh guarding bracket, wherein a waist pneumatic muscle support is provided on the thigh panel for mounting the waist pneumatic muscle element, and a belt connection groove is provided on the thigh guarding bracket for connecting the thigh belt.
- In one embodiment of the present disclosure, there are provided two arm structures, each of said arm structures including an upper arm assembly, an elbow joint member, a forearm assembly, a wrist joint member, and a hand assembly, wherein an upper end of the upper arm assembly is connected to the shoulder joint connecting panel by the first hinge mechanism, and a lower end of the upper arm assembly is connected to the forearm assembly by the elbow joint member to form a bend-stretch revolute pair of the elbow joint assembly, while the forearm assembly is connected to the hand assembly by the wrist joint member to form a bend-stretch revolute pair of the wrist joint assembly.
- In one embodiment of the present disclosure, each of said upper arm assemblies includes an outer upper arm panel, an inner upper arm panel, and an upper arm guarding bracket for fixing and connecting the outer upper arm panel and the inner upper arm panel, each of said forearm assemblies includes an outer forearm panel, an inner forearm panel, and a forearm guarding bracket for fixing and connecting the outer forearm panel and the inner forearm panel, and the hand assembly includes an inner supporting panel, an outer supporting panel, and a hand guarding bracket for fixing and connecting the inner supporting panel and the outer supporting panel, wherein both the outer upper arm panel and the inner upper arm panel are provided with a first elbow pneumatic muscle support, each of the outer forearm panel and the inner forearm panel is provided with a second elbow pneumatic muscle support and a first wrist pneumatic muscle support, and each of the inner supporting panel and the outer supporting panel is provided with a second wrist pneumatic muscle support, an elbow pneumatic muscle element is mounted on each of the first elbow pneumatic muscle support and the second elbow pneumatic muscle support respectively for driving pivotal movement of the elbow joint assembly, and a wrist pneumatic muscle element is mounted on each of the first wrist pneumatic muscle support and the second wrist pneumatic muscle support respectively for driving pivotal movement of the wrist joint assembly.
- One embodiment of the present disclosure provides an upper arm guarding belt, a forearm guarding belt, and a hand guarding belt, wherein an upper arm guarding belt connecting slot is provided on each of the outer upper arm panel and the inner upper arm panel for connecting the upper arm guarding belt, and a forearm guarding belt connecting slot is provided on both the outer forearm panel and the inner forearm panel for connecting the forearm guarding belt, a hand guarding belt connecting slot is provided on each of the inner supporting panel and the outer supporting panel for connecting the hand guarding belt, and a groove for hanging heavy objects is provided on each of the inner supporting panel and the outer supporting panel.
- In one embodiment of the present disclosure, both ends of the back crossbeam are respectively provided with a sliding groove, the second hinge mechanism includes a hinged shaft and a hinged seat configured to have a cylindrical end, and have a groove portion adapted to receive the shoulder joint connecting panel at the other end, wherein the two side walls of the groove portion are provided with an opening, and the shoulder joint connecting panel is connected to the hinged seat through cooperation between the hinged shaft and the opening to form an abduction-adduction revolute pair of the shoulder joint assembly, the cylindrical end of the hinged seat is rotatably received in the sliding groove and located by a positioning bolt to block the hinged seat from moving linearly within the sliding groove, so as to form a medial rotation-lateral rotation revolute pair of the shoulder joint assembly.
- In one embodiment of the present disclosure, the assisted exoskeleton rehabilitation device is further provided with a shoulder traction line conduit for guiding the shoulder traction line, and a waist traction line support is disposed on the waist connection panel for fixing the waist traction line.
- Advantageously, the back supporting panel includes two supporting panels, each of the supporting panels having a first section and a second section which are slidable relative to each other, such that a length of the supporting panel can be adjusted, and thereby a waist position can be adjusted, a positioning sliding groove is disposed on the first section and the second section respectively, and the first section and the second section can be fastened through cooperation between the positioning sliding groove and a locking screw.
- The present disclosure further provides an assisted exoskeleton rehabilitation system, including a control system and an assisted exoskeleton rehabilitation device, the control system including a gas source generator, a controller, a pneumatic pressure reducing valve, a solenoid valve group connected to the shoulder pneumatic muscle element, the waist pneumatic muscle element, the elbow pneumatic muscle element, and the wrist pneumatic muscle element respectively, and a driving circuit board disposed between the controller and the solenoid valve group, wherein the controller is for controlling the pneumatic pressure reducing valve to decompress a gas from the gas source generator, a signal input end of the solenoid valve group is connected to the driving circuit board which is configured to receive a preset control instruction from the controller.
- The present disclosure further provides a method for controlling the assisted exoskeleton rehabilitation device, including controlling the pneumatic pressure reducing valve to decompress a gas from the gas source generator by means of a controller; controlling the solenoid valve group respectively connected to the shoulder pneumatic muscle element, the waist pneumatic muscle element, the elbow pneumatic muscle element, and the wrist pneumatic muscle element based on a control instruction from the controller, so as to control the inflation and deflation of the shoulder pneumatic muscle element, the waist pneumatic muscle element, the elbow pneumatic muscle element, and the wrist pneumatic muscle element.
- The assisted exoskeleton rehabilitation device according to the present disclosure has 12 degrees of freedom, each of the two shoulder joint assemblies has 3 degrees of freedom, i.e. bend-stretch degree of freedom, abduction-adduction, and medial rotation-lateral rotation, and the elbow joint and the wrist joint each has one degree of freedom, i.e. bend-stretch degree of freedom. The back structure can slide up and down to adjust the waist position. The waist structure includes two hip joint assemblies of the same structure, each having a rotational degree of freedom, which enables the assisted exoskeleton rehabilitation clothing to make bending and standing movement following the wearer. The present disclosure has the advantages of simple structure, high power density ratio, high safety and high flexibility, can greatly improve the body capacity of the wearer when he lifts heavy objects, and can be widely applied to the fields such as rehabilitation treatment, family service, disaster relief, and material transfer.
- The above and/or additional aspects and advantages of the present disclosure will be apparent and readily understood from the embodiments illustrated below with reference to the drawings, in which:
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FIG. 1 is a schematic view of an overall structure of an assisted exoskeleton rehabilitation device according to one embodiment of the present disclosure; -
FIG. 2 is a schematic view of an upper structure of the assisted exoskeleton rehabilitation device shown inFIG. 1 ; -
FIG. 3 is a schematic view of a back structure of the assisted exoskeleton rehabilitation device shown inFIG. 1 ; -
FIG. 4 is a schematic view of a waist structure and thigh structures of the assisted exoskeleton rehabilitation device shown inFIG. 1 ; -
FIG. 5 is a schematic view of a thigh structure of the assisted exoskeleton rehabilitation device shown inFIG. 1 ; -
FIG. 6 is a partial schematic view of an outer upper arm of the assisted exoskeleton rehabilitation device shown inFIG. 1 ; -
FIGS. 7A and 7B are schematic views of a back crossbeam of the assisted exoskeleton rehabilitation device shown inFIG. 1 ; -
FIG. 8 is a schematic view of a hinged seat in a shoulder joint assembly according to the present disclosure; -
FIG. 9 is a schematic view of a shoulder traction wheel in a shoulder joint assembly according to the present disclosure; -
FIG. 10 is a schematic view of a pneumatic muscle; and -
FIG. 11 is a schematic view of a pneumatic muscle control system according to the present disclosure. - The embodiments of the present disclosure will be illustrated in detail below, examples of which are shown in the drawings, wherein the same or like reference numerals will be used to refer to the same or like elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary only, and shall be only for the purpose of interpreting but not for limiting the present disclosure.
- Firstly, the technical principle of the pneumatic muscle element is explained.
FIG. 10 is a schematic view of a pneumatic muscle element according to the present disclosure. The pneumatic muscle element is a new type of driver, and its main body is a rubber tube D. An outer side of the rubber tube is covered with a woven mesh C made of PET material. Two ends of the rubber tube D are sleeved on sealing plugs E, F disposed at both ends thereof. The sealing plug F at one end is not provided with an air hole, but completely blocks the rubber tube to prevent air leakage, and the other sealing plug E at the other end has an air hole for inflation or deflation of the pneumatic muscle element. Then the rubber tube D and the woven mesh C are wound 2-3 turns by an adhesive tape at the concave portion of each of the sealing plug E and F for firmly bonding the rubber tube and the woven mesh together at the concave portion of each sealing plug. A copper wire A is wound around edges of the concave portion of each sealing plug to prevent the woven mesh C from being disengaged under high pressure, and then the woven mesh C is folded, and the copper wire is arranged at a bend of the woven mesh C at the end. The folded woven mesh extends to a position at the tail of the seal, and the concave portion of each of the sealing plugs E, F are tightened by a clamp B to prevent the pneumatic muscle element from leaking air and breaking up under internal high pressure. The sealing plugs E and F are designed flexibly, and may be connected differently according to the connection mode. - It is required that the rubber tube D have certain toughness and elasticity, may expand and contract under inflation and deflation, and have good fatigue resistance. The woven mesh C should have high non-ductility, excellent strength and toughness, but no tensile deformation. The sealing plugs E and F may be made of a hard non-metallic material with high compactness, or a metal material with high strength and low density. The clamp B may be a commonly used stainless steel clamp, or a self-designed aluminum alloy member with high strength.
- Pneumatic muscle is a new type of driver that can imitate contraction of biological muscles. It is widely used for driving various bionic machinery owing to such advantages as high flexibility, light weight, convenient use, fast response, and low cost.
- Compared with traditional rigid drivers such as motors, hydraulic cylinders and pneumatic cylinders, the pneumatic muscle has such advantages as high power/quality ratio, good flexibility, high safety, light weight, easy access to material, easy manufacturing, and low cost. Therefore, the assisted exoskeleton rehabilitation device driven by the pneumatic muscle enables light weight, good flexibility, high safety, and low cost while ensuring a large driving force, and therefore can be widely used.
- In the process of inflating the pneumatic muscle element, the pneumatic muscle element will expand radially and contract axially, and an external load may be driven by means of the axial driving force generated by the axial contraction. As the internal pressure increases, the rigidity of the pneumatic muscle element increases, and as the internal pressure decreases, the rigidity thereof decreases. According to the characteristics, the pneumatic muscle element can be used as a new type of linear driver. Compared with traditional drivers such as hydraulic cylinder, pneumatic cylinder, and motor, it has light weight. Furthermore, according to the needs of the driving stroke, the length of the pneumatic muscle element can be designed in combination with its contraction rate to avoid danger caused by overtravel. And its cost is very low. More importantly, the pneumatic muscle element has good flexibility and high safety, and can be widely used in the field of medical rehabilitation.
- The present disclosure is now described in detail below in conjunction with an assisted exoskeleton rehabilitation device according to one embodiment of the present disclosure.
- As shown in
FIG. 1 , in one embodiment, the assisted exoskeleton rehabilitation device may include, for example, two arm structures 1, oneback structure 2, one waist structure 3, and two identical thigh structures 4. Each of the arm structures 1 is connected to theback structure 2 by a shoulder joint assembly, and has an elbow joint member and a wrist joint member, wherein each arm structure has 5 degrees of freedom, and each shoulder joint assembly has 3 degrees of freedom, i.e. bend-stretch, abduction-adduction, and medial rotation-lateral rotation, and the elbow joint member and the wrist joint member each has one degree of freedom, i.e. bend-stretch degree of freedom. Each thigh structure 4 is connected to the waist structure 3 by a hip joint assembly and has one degree of freedom, i.e. bend-stretch degree of freedom. Therefore, the whole assisted exoskeleton rehabilitation device has 12 degrees of freedom. -
FIG. 2 andFIG. 3 respectively show the upper structure and back structure of the assisted exoskeleton rehabilitation device in the above embodiment. As can be seen from the figures, each arm structure 1 includes an upper arm assembly 11, an elbowjoint member 12, aforearm assembly 13, a wristjoint member 14, and ahand assembly 15. Theback structure 2 includes aback crossbeam 21 and two back supportingpanels 22. Two first shoulder pneumatic muscle supports 211 are disposed on theback crossbeam 21, one end of each back supportingpanel 22 is fixedly connected to theback crossbeam 21, and the other end thereof is provided with a second shoulderpneumatic muscle support 220. Each of theback supporting panels 22 is mounted with a shoulder pneumatic muscle element 5, one end of which is fixedly connected to the first shoulderpneumatic muscle support 211, and the other end of which is fixedly connected to the second shoulderpneumatic muscle support 220 for driving pivotal movement of the shoulder joint member. It is understood by those skilled in the art that the number of the back supporting panels and shoulder pneumatic muscle elements here is merely illustrative. Other suitable numbers can be selected as needed. - Advantageously, the back supporting
panel 22, which has an adjustable length, is configured to adjust the position of the waist structure. Referring toFIG. 3 , each back supportingpanel 22 has afirst section 221 and asecond section 222 which are slidable relative to each other, e.g. the first section is slidably received in the second section, each of thefirst section 221 and thesecond section 222 has a positioning sliding groove. The first section and the second section can be locked through a cooperation between the positioning sliding groove and a locking bolt to prevent relative movement therebetween. When the waist position needs to be adjusted, the locking bolt can be released, so that the first section and the second section slide relatively to a desired position to adjust the length of the back supporting panel. -
FIGS. 7A and 7B respectively show the structure of the back crossbeam from different directions. As can be seen from the figures, theback crossbeam 21 is further provided with abelt connecting slot 212, a back supportplate positioning hole 213, a connecting slidinggroove 214, and apositioning groove 215. Thebelt connecting slot 212 is connected to the wearer's back by connecting the back guarding belt (not shown). - In addition, referring to
FIG. 6 , taking the left arm structure as an example, each upper arm assembly 11 includes an outer upper arm panel 111, an innerupper arm panel 112, and an upperarm guarding bracket 113 for fixedly connecting the outer upper arm panel 111 and the innerupper arm panel 112 to each other. An upper arm guardingbelt connecting slot 114 is disposed on the outer upper arm panel 111 and the innerupper arm panel 112 respectively for connecting the upper arm guarding belt (not shown), thereby connecting the wearer's upper arm. In addition, a first elbowpneumatic muscle support 115 is disposed on each of the outer upper arm panel 111 and the innerupper arm panel 112. - Each
forearm assembly 13 may include an outer forearm panel 131, aninner forearm panel 132, and a forearm guarding bracket 133 for fixedly connecting the outer forearm panel 131 and theinner forearm panel 132 each other. A forearm guardingbelt connecting slot 134 is disposed on the outer forearm panel 131 and theinner forearm panel 132 respectively for connecting the forearm guarding belt (not shown) thereby connecting the wearer's forearm. Besides, a second elbowpneumatic muscle support 135 and a first wristpneumatic muscle support 136 are disposed on both the outer forearm panel 131 and theinner forearm panel 132. - Each
hand assembly 15 may include an outer supportingpanel 151, an inner supportingpanel 152, and a hand guarding bracket 153 for fixedly connecting the outer supportingpanel 151 and the inner supportingpanel 152 each other. A hand guardingbelt connecting slot 154 is provided on the outer supportingpanel 151 and the inner supportingpanel 152 respectively for connecting the hand guarding belt (not shown), thereby connecting the wearer's wrist. A second wristpneumatic muscle support 155 and agroove 156 suitable for hanging heavy objects are provided on both the inner supporting panel and the outer supporting panel. - Here, one end of the elbow pneumatic muscle element 6 is fixedly connected to the first elbow
pneumatic muscle support 115, and the other end thereof is fixedly connected to the second elbowpneumatic muscle support 135 for driving pivotal movement of the elbow joint member. One end of the wristpneumatic muscle element 7 is fixedly connected to the first wristpneumatic muscle support 136, and the other end thereof is fixedly connected to the second wristpneumatic muscle support 155 for driving pivotal movement of the wrist joint member. - In this embodiment, the shoulder joint assembly may include a curved
shoulder connecting panel 8, a shoulder traction wheel 9, ashoulder traction line 10, a first hinge mechanism, and a second hinge mechanism. Here, the first hinge mechanism is a hinged shaft 81, and the second hinge structure includes a hinged shaft 82 and a hingedseat 83 rotatably received in the connecting slidinggroove 214 of the back crossbeam 12 (seeFIG. 8 ). The hinged seat is configured to have a cylindrical shape at one end and have agroove portion 84 adapted to receive the shoulderjoint connecting panel 8 at the other end. Ahole 85 is provided on each of two side walls of the groove portion. One end of theshoulder connecting panel 8 is pivotally connected to the hingedseat 83 through a cooperation between the hinged shaft 82 and theholes 85 to form an abduction-adduction revolute pair of the shoulder joint member; the other end of theshoulder connecting panel 8 is pivotally connected to the outer upper arm panel 111 of the upper arm assembly 11 by the hinged shaft 81 to form a bend-stretch revolute pair of the shoulder joint member. - It is advantageous to provide a connecting sliding
groove 214 in theback crossbeam 21, as the width of the shoulder can be adjusted by moving the hingedseat 83 left and right in the connecting sliding groove as desired. When the position of the hinged seat is required to be fixed, the cooperation between the locking bolt and thepositioning groove 215 allows the hingedseat 83 to be located in the connecting slidinggroove 214 rotatably but non-linearly movably, thereby getting the desired width of the shoulder. Moreover, since the hingedseat 83 can be rotated in the connecting slidinggroove 214 but cannot move linearly along the connecting slidinggroove 214, a medial rotation-lateral rotation revolute pair of the shoulder joint is formed. - As shown in
FIG. 9 , the shoulder traction wheel 9 is provided with a connectingshaft 90 integrally formed therewith at the center, and a fixinghole 91 is disposed on an outer peripheral surface of the shoulder traction wheel 9. The shoulder traction wheel 9 is fixed to the outer upper arm panel through cooperation between the connectingshaft 90 and a connecting hole of the outer upper arm panel 111, wherein one end of theshoulder traction line 10 is connected to the shoulder traction wheel 9 through the fixinghole 91, and the other end thereof is connected to the shoulder pneumatic muscle element 5. Advantageously, a shouldertraction line conduit 101 is further provided for guiding theshoulder traction line 10, and theshoulder traction line 10 may be partially wrapped around the shoulder traction wheel. In this embodiment, the shouldertraction line conduit 101 is similar to a casing pipe of a bicycle brake line, having both a certain rigidity and a certain flexibility, which not only functions well in guiding, but also does not hinder the movement of the shoulder joint member. When the human arms loose naturally, the shoulder pneumatic muscle element 5 is kept in a tension-free state. When the shoulder pneumatic muscle element 5 is inflated and expanded, theshoulder traction line 10 drives the shoulder traction wheel 9 to rotate, thereby driving pivotal movement of the upper arm member 11. - As shown in
FIGS. 4 and 5 , the waist structure 3 includes a waisttransverse panel 31 and a waistpneumatic muscle element 32 fixedly connected to a lower end of theback supporting panel 22. The thigh structure 4 includes athigh panel 41 and a thigh guarding bracket 42, wherein a waistpneumatic muscle support 43 for mounting the waistpneumatic muscle element 32 is provided on thethigh panel 41, and a guardingbelt connecting slot 44 is provided on the thigh guard 42 for connecting the thigh belt (not shown), thereby connecting the wearer's thigh. The hip joint assembly includes awaist connection panel 38 fixedly connected to the waisttransverse panel 31, a hingedshaft 34, afirst guide wheel 35 fixed to the waist connection panel 33, asecond guide wheel 36 fixed to the thigh structure 4, and awaist traction line 37, wherein the hingedshaft 34 pivotally connects thewaist connection panel 38 to thethigh panel 41 to form a bend-stretch revolute pair of the hip joint. A waist tractionline fixing member 39 is further provided on thewaist connection panel 38. One end of thewaist traction line 37 extends through thesecond guide wheel 36 and thefirst guide wheel 35 and is fixed to the waist tractionline fixing member 39 of thewaist connection panel 38, and the other end thereof is connected to the waistpneumatic muscle element 32. - Since the two hip joints with the same structure each have a rotational degree of freedom, the assisted exoskeleton rehabilitation clothing can make bending and standing movement following the wearer. When the wearer's waist is upright, the waist
pneumatic muscle element 32 is contracted to the shortest position, and thewaist traction line 37 is pre-tightened. When the wearer's waist is bent, the waistpneumatic muscle element 32 is deflated, so that the hip joint rotates together with the waist to complete the bending action. During the stand-up process of the human body, the waistpneumatic muscle element 32 is inflated to drive the hip joint to rotate, thereby assisting the human waist. - As shown in
FIG. 1 , the assisted exoskeleton rehabilitation device of the present disclosure is designed in the bionic principle and is a bilaterally symmetrical structure. For the sake of convenience, the right half branch is now taken as an example to illustrate the pneumatic muscle control system for the assisted exoskeleton rehabilitation device. - As shown in
FIG. 11 , the pneumatic muscle control system includes a gas source generator 1 a, a controller 1 b, a pneumatic pressure reducing valve 1 c, a left half branch L, a right half branch R, and a driving circuit board 1 e. The gas source generator 1 a is connected to the left half branch L and the right half branch R respectively by the pneumatic pressure reducing valve 1 c, the controller 1 b is connected to the pneumatic pressure reducing valve 1 c and the driving circuit board 1 e, respectively, and the driving circuit board 1 e is also connected to the left half branch L and the right half branch R respectively. Here, the left half branch and the right half branch are identical in structure, and only the right half branch is described here. The right half branch includes a solenoid valve group 1 d, and a shoulder pneumatic muscle element 5, a waistpneumatic muscle element 32, an elbow pneumatic muscle element 6, and a wristpneumatic muscle element 7 respectively connected to the solenoid valve group, wherein the driving circuit board 1 e is disposed between the controller and the solenoid valve group; the controller is configured to control the pneumatic pressure reducing valve to decompress the gas from the gas source generator; the signal input end of the solenoid valve group is connected to the driving circuit board, and the driving circuit board is configured to receive a preset control instruction from the controller. - The gas source generator 1 a can generate sufficient gas source, which is stored in a gas cylinder. The gas source generator can set the highest pressure value of the gas source, automatically start and stop, and complement the gas. The gas comes out from the gas source generator, and the maximum pressure of gas entering the pneumatic muscle element is controlled by the pneumatic pressure reducing valve 1 c. Generally, the pressure value of gas out of the gas source generator is higher than the working pressure value, so the pneumatic pressure reducing valve is required for depressurization treatment. The decompressed gas is discharged into the solenoid valve group 1 d, and the gas from the solenoid valve group is connected to a charging connector on the corresponding pneumatic muscle element through a gas pipe. Within the solenoid valve group, it is available that inflation, deflation, and maintenance of each pneumatic muscle element are controlled through cooperation between two 2-position 2-way solenoid sub-valves, or they are controlled solely by one 3-position 3-way solenoid sub-valve. The right half branch is divided into a wrist
pneumatic muscle element 7, an elbow pneumatic muscle element 6, a shoulder pneumatic muscle element 5, and a waistpneumatic muscle element 32. For the wrist pneumatic muscle element 6, when the controller issues an inflation command, the inlet of the branch of the solenoid valve group corresponding to the wrist pneumatic muscle element will open, and then the gas enters the interior of the pneumatic muscle element through the gas pipe. When the wrist member reaches the specified bending angle, the controller will issue a power-off command. At this time, all the branches of the solenoid valve group corresponding to the wrist pneumatic muscle element are closed, and the gas inside the pneumatic muscle element is enclosed inside the pneumatic muscle element and maintained at the original position. When the controller issues a deflation command, the gas vent of the solenoid valve group corresponding to the wristpneumatic muscle element 7 is opened, the gas inside the wristpneumatic muscle element 7 is released, and the wrist pneumatic muscle element is returned to its initial state. The elbow pneumatic muscle element works in the same principle as the shoulder pneumatic muscle element and the waist pneumatic muscle element, and the left half branch works in a same principle as the right half branch, so we will not repeat them now. - When the wearer wears the assisted exoskeleton rehabilitation device according to the present disclosure, the flexible belt on the human shoulder enables flexible connection between the back structure and the back of the wearer, and the upper arm assembly 11, the
forearm assembly 13 and thehand assembly 15 are connected flexibly to the wearer's hands and arms by corresponding guarding belts. The human hands and arms are placed in the assisted exoskeleton rehabilitation device, and the thigh structure 4 is flexibly connected to the wearer's legs by the leg guarding bracket 42 and the thigh belt. When the wearer lifts a heavy object, the wristpneumatic muscle element 7, the elbow pneumatic muscle element 6, and the shoulder pneumatic muscle element 5 are inflated, and each of the pneumatic muscle elements is inflated and expanded, wherein the wristpneumatic muscle element 7 drives the wrist joint to rotate, the elbow pneumatic muscle element 6 drives the elbow joint to rotate, and the shoulder pneumatic muscle element 5 bypasses the shoulder traction wheel by means of the shoulder traction line to drive the upper arm assembly 11 to rotate. At this time, the forearm guarding bracket is attached tightly to the wearer's forearm, and the upper arm guarding bracket is attached tightly to the wearer's upper arm, thereby the arm is moved upwards to complete the process of lifting the heavy object. When the wearer needs to put down the heavy object, each of the pneumatic muscle elements is deflated, and the two arms assisted by the assisted exoskeleton rehabilitation device move downward under the gravity of the heavy object to complete the process of dropping the heavy object. In the working process, the speed of arm movement is changed by adjusting the inflation and deflation speed. When the wearer's waist bends in the process of lifting the heavy object, the waistpneumatic muscle element 32 is deflated, causing the hip joint of the exoskeleton rehabilitation assisting clothing to rotate following the bending of the human waist. When the wearer's waist is upright, the waistpneumatic muscle element 32 is inflated, which drives the hip joint of the assisted exoskeleton rehabilitation device to rotate, thus driving the back movement of the human body to boost the wearer's waist. Throughout the work, the stress on the assisted exoskeleton rehabilitation device is concentrated on the shoulders and legs of the wearer. In this way, the stress on the muscles of human arms and waist are transferred to the bones of the human body. - The present disclosure can not only assist the persons with muscle damage or the elderly with weak muscle ability, but also help the patients with arm injury or waist injury to complete daily rehabilitation training, so that their body function can be quickly restored.
- The present disclosure is disclosed in example embodiments above, but the present disclosure is not limited thereto. Any variation or modification made by a person skilled in the art without departure from the spirit and scope of the present disclosure shall be included in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure shall be determined by the protection scope of the claims.
Claims (11)
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CN201810272761.0A CN110314065A (en) | 2018-03-29 | 2018-03-29 | Exoskeleton rehabilitation power assisting device |
CN201810272761.0 | 2018-03-29 | ||
PCT/CN2019/073702 WO2019184589A1 (en) | 2018-03-29 | 2019-01-29 | Exoskeleton recovery power assisting device |
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EP3778138A1 (en) | 2021-02-17 |
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CN110314065A (en) | 2019-10-11 |
JP7340522B2 (en) | 2023-09-07 |
US20210353493A1 (en) | 2021-11-18 |
US11571352B2 (en) | 2023-02-07 |
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