WO2018098848A1

WO2018098848A1 - Exoskeleton apparatus for reducing loads of lower limb joints and measuring supporting force

Info

Publication number: WO2018098848A1
Application number: PCT/CN2016/109417
Authority: WO
Inventors: 王东海; 李国民
Original assignee: 广东思谷智能技术有限公司; 华中科技大学
Priority date: 2016-12-02
Filing date: 2016-12-12
Publication date: 2018-06-07
Also published as: CN106420280B; CN106420280A

Abstract

An exoskeleton apparatus for reducing loads of lower limb joints and measuring supporting force, comprising a seat mechanism (1), a thigh mechanism (2), a knee joint mechanism (3), a lower leg mechanism (4), and a shoe cover mechanism (5); the thigh mechanism (2) is movably connected to the seat mechanism (1); the knee joint mechanism (3) is connected to the thigh mechanism (2) and the lower leg mechanism (4); the shoe cover mechanism (5) is mounted and connected to the lower leg mechanism (4); the knee joint mechanism (3) comprises an upper knee joint connection plate (301), an inner knee joint plate (302), an outer knee joint plate (305), and a lower knee joint connection plate (308); the upper part of the upper knee joint connection plate (301) is fixedly connected to the thigh mechanism (2), and the lower part is fixedly connected to the inner knee joint plate (302); the upper part of the lower knee joint connection plate (308) is fixedly connected to the outer knee joint plate (305), and the lower part is fixedly connected to the lower leg mechanism (4); the inner knee joint plate (302) is provided with a first curved groove (303) and a second curved groove (304); a first curved shaft (306) movably snapped in the first curved groove (303) and a second curved shaft (307) movably snapped in the second curved groove (304) are provided on the outer knee joint plate (305). The exoskeleton apparatus can reduce load force of lower limb joints when supporting a human body, and measure supporting force.

Description

Exoskeleton device for reducing joint load of lower limbs and measuring support force

技术领域 Technical field

The invention belongs to the field of medical auxiliary equipment and sports equipment, and particularly relates to an exoskeleton device for reducing joint load of lower limbs and measuring support force.

背景技术 Background technique

With the increasing ageing of the society and the unhealthy lifestyle, the proportion of obesity is rising rapidly. The incidence of osteoarthritis in the lower extremities such as hip arthritis, knee arthritis and ankle arthritis is increasing year by year, and it is younger. The trend has greatly affected the normal life and actions of patients, and brought heavy rehabilitation and economic burden to the family. The pathogenesis of lower extremity osteoarthritis is complex, and excessive joint stress is an important cause. The joints of the lower limbs support the body weight and the dynamic force during walking during the walking of the human body. There are complex movements such as rolling, sliding and twisting inside the joints. Excessive force causes excessive friction and wear of the joints and destroys the soft tissues of the joints. The structure accelerates the pathological changes of arthritis, causing joint pain and abnormal gait. In order to prevent and recover lower extremity osteoarthritis, an important means is to use the lower extremity exoskeleton device that is synchronized with the human body. The gait support phase supports the human body weight, the gait swing follows the human body movement, and the lower limb joint supports the human body. The load force reduces the pain of the patient while walking, measures the supporting force, quantifies the effect of the use, and evaluates the comfort of the human body.

发明内容Summary of the invention

The technical problem to be solved by the present invention is to provide an exoskeleton device that reduces the joint load of the lower limbs, which can reduce the load on the lower limbs and can detect the support force.

In order to solve the above technical problems, the present invention adopts the following technical solutions:

An exoskeleton device for reducing joint load and measuring support force of a lower limb, comprising a seat mechanism, a thigh mechanism, a knee joint mechanism, a calf mechanism and a shoe cover mechanism, wherein the thigh mechanism and the seat mechanism are movably connected to move the thigh mechanism toward the human body coronal plane The knee joint mechanism is connected to the thigh mechanism and the calf mechanism, and the shoe cover mechanism is connected to the calf mechanism, and the knee joint mechanism includes a knee joint upper plate, a knee joint inner plate, a knee joint outer plate and a knee joint lower connecting plate, and a knee joint The upper connecting plate is fixedly connected with the thigh mechanism, the lower part is fixedly connected with the knee joint inner plate, the lower part of the knee joint is fixedly connected with the knee joint outer plate, the lower part is fixedly connected with the lower leg mechanism, and the knee joint inner plate is provided with the first curve. The slot and the second curved slot are provided with a first curved shaft that is movable in the first curved slot and a second curved shaft that is movable in the second curved slot.

The first curved groove is located above the second curved groove, and the length of the first curved groove is smaller than the length of the second curved groove.

The first curved groove and the second curved groove are each set to an arc shape.

The calf mechanism comprises a lower leg upper rod, a lower leg outer rod, a lower leg strap, a lower leg inner rod, an air spring and a force sensor, the upper part of the lower leg is fixedly connected with the lower joint plate of the knee joint, the lower part is fixedly connected with the outer leg of the lower leg, and the lower leg is inside. The upper part of the rod is connected with the outer leg of the lower leg, the lower leg strap is fixed on the outer leg of the lower leg, the upper part of the air spring is fixedly connected with the inner leg of the lower leg, and the force sensor is attached to the lower end of the air spring.

The upper part of the inner leg of the lower leg is inserted into the outer leg of the lower leg and is engaged with the outer leg of the lower leg, and the upper part of the air spring extends into the inner leg of the lower leg to be fixedly installed.

The shoe cover mechanism includes an L-shaped sole plate, a connecting plate, a spring connecting barrel, a foot outer Velcro, a heel velcro and a back velcro, a foot outer velcro, a heel velcro and a foot back. The velcro is mounted on the sole plate, the connecting plate is fixedly connected with the outer side of the sole plate, and the spring connecting barrel is mounted and connected with the connecting plate, and the spring connecting sleeve is set at the lower part of the air spring.

A hinge hinge is arranged between the connecting plate and the spring connecting cylinder, one side of the hinge hinge is fixedly connected with the connecting plate, and the other of the hinge hinges is movably connected with the spring connecting barrel.

The seat mechanism includes a curved rail seat, a slider, a curved seat cushion and a waist strap, and the slider movable suit slides back and forth along the curved rail seat on the curved rail seat, and the waist strap is fixedly mounted on the On the seat cushion, the seat cushion is mounted on the curved rail seat, and the thigh mechanism is movably connected to the slider.

The thigh mechanism includes a thigh upper rod, a thigh rod, a thigh strap and a thigh lower rod, the upper part of the upper leg is movably connected with the seat mechanism, the lower part is fixedly connected with the thigh rod, the thigh strap is fixed on the thigh rod, and the thigh is lower rod The upper part is fixedly connected with the thigh rod, the lower part is fixedly connected with the upper joint plate of the knee joint, and the upper leg of the thigh is movably connected with the slider.

The slider is provided with a connecting groove, and the upper part of the upper leg of the thigh is inserted into the connecting groove and is mounted by a pin, and the upper leg of the thigh moves in the connecting groove along the crown surface of the human body with the pin as a rotating axis.

When the device of the present invention is used for human body wear, the skeletal support phase, the exoskeleton supports the body part body weight, reduces the load force when the lower limb joint supports the human body, reduces the internal force of the hip joint, the knee joint, the ankle joint, and reduces the joint. Internal friction and wear and muscle fatigue, relieve pain during walking of patients with lower extremity osteoarthritis, can effectively prevent and recover patients with lower extremity osteoarthritis, and use force sensor to detect the size of support force, quantitatively record the use effect, and evaluate human comfort sense. In the gait swing phase, the exoskeleton is driven by the human body to follow the synchronous movement of the human body, and does not affect the normal walking of the human body.

附图说明 DRAWINGS

Figure 1 is a schematic perspective view of the present invention;

Figure 2 is a perspective view showing the structure of the seat mechanism of the present invention;

Figure 3 is a perspective view showing the three-dimensional structure of the thigh mechanism of the present invention;

Figure 4 is a schematic perspective view of a knee joint of the present invention;

Figure 5 is a schematic view showing the state of decomposition of the knee joint of the present invention;

Figure 6 is a perspective view showing the three-dimensional structure of the lower leg mechanism of the present invention;

Figure 7 is a perspective view showing the three-dimensional structure of the shoe cover mechanism of the present invention.

具体实施方式 detailed description

In order to facilitate the understanding of those skilled in the art, the present invention will be further described below in conjunction with the accompanying drawings.

As shown in Figures 1, 4 and 5, the present invention discloses an exoskeleton device for reducing lower limb joint load and measuring support force, including a seat mechanism 1, a thigh mechanism 2, a knee joint mechanism 3, a calf mechanism 4, and a shoe cover mechanism. 5, the thigh mechanism 2 and the seat mechanism 1 is movably connected to move the thigh mechanism 2 toward the coronal plane of the human body, the knee joint mechanism 3 is connected to the thigh mechanism 2 and the lower leg mechanism 4, and the shoe cover mechanism 5 is mounted and coupled with the calf mechanism 4, the knee joint The mechanism 3 includes a knee joint connecting plate 301, a knee joint inner plate 302, a knee joint outer plate 305, and a knee joint lower connecting plate 308. The upper portion of the knee joint upper connecting plate 301 is fixedly coupled with the thigh mechanism 2, and the lower portion and the knee joint inner plate 302. The upper joint of the lower knee joint plate 308 is fixedly connected with the knee joint outer plate 305, the lower portion is fixedly connected with the lower leg mechanism 4, and the knee joint inner plate 302 is provided with a first curved groove 303 and a second curved groove 304, outside the knee joint. The plate 305 is provided with a first curved axis 306 in which the movable card is mounted in the first curved groove 303 and a second curved axis 307 in which the movable card is mounted in the second curved groove 304. The first curve axis and the second curve axis move back and forth in the first curved groove and the second curved groove, respectively, thereby achieving relative rotation between the knee joint inner plate and the knee joint outer plate. When the human body is walking in the supporting phase, the knee joint in the exoskeleton is in an extreme straight state, supporting the human body gravity; when the human body is walking in the swing phase, the knee joint mechanism in the exoskeleton follows the human knee joint to flex freely.

The first curved groove 303 is located above the second curved groove 304, and the length of the first curved groove is smaller than the length of the second curved groove. And the first curved groove and the second curved groove are both set to an arc shape.

As shown in FIG. 6, the calf mechanism 4 includes a lower leg upper rod 401, a lower leg outer rod 402, a lower leg strap 403, a lower leg inner rod 404, an air spring 405 and a force sensor 406, and an upper part of the lower leg upper rod 401 and a knee joint lower connecting plate. 308 is fixedly connected, the lower part is fixedly connected with the lower leg outer rod 402, the upper part of the lower leg inner rod 404 is fixedly connected with the lower leg outer rod 402, the lower leg strap 403 is fixed on the lower leg outer rod 402, and the upper part of the air spring 405 is fixedly connected with the lower leg inner rod 404. The force sensor 406 is attached to the lower end of the air spring 405. Preferably, the upper part of the lower leg inner rod 404 is inserted into the outer leg outer rod 402 and is engaged with the outer leg outer rod 402, so that the telescopic adjustment between the outer leg of the lower leg and the inner rod of the lower leg can be realized, and the length can be adjusted to expand the application. Range, the upper portion of the air spring 405 extends into the lower leg inner rod 404 for fixed installation. The calf straps tie the human calf. The air spring compresses the length when the calf mechanism supports the weight of the human body part. The force generated by the compression supports the weight of the human body part. The bottom end of the force sensor contacts the ground, and the support force can be measured.

As shown in FIG. 7, the shoe cover mechanism 5 includes an L-shaped sole plate 501, a connecting plate 502, a spring connecting barrel 504, a foot outer Velcro 505, a heel velcro 506, and a foot velcro 507. The velcro 505, the heel velcro 506 and the velcro 507 are mounted on the sole 501. The connecting plate 502 is fixedly connected to the outer side of the sole 501, and the spring connecting sleeve 504 is connected to the connecting plate. The spring connection barrel 504 is fitted over the lower portion of the air spring 405. A hinge hinge 503 is disposed between the connecting plate 502 and the spring connecting barrel 504. One side of the hinge hinge 503 is fixedly connected with the connecting plate 502, and the other of the hinge hinge 503 is movably connected with the spring connecting barrel 504, thereby The spring connecting barrel 504 can be rotated relative to the connecting plate 502 through the hinge hinge to realize the flexion and extension movement of the ankle joint of the human body relative to the exoskeleton, the hinge hinge increases the degree of freedom of the ankle abduction/adduction, and the air spring sleeve is connected with the spring. The degree of freedom of the external rotation/inner rotation of the ankle joint and the freedom of linear motion are added to the barrel, which meets the requirements of ergonomics. The velcro-bonded connection between the outer velcro, the heel velcro and the velcro of the foot is convenient, soft, stable and reliable.

As shown in FIG. 2, the seat mechanism 1 includes a curved rail seat 101, a slider 102, a curved seat cushion 104, and a waist strap 105, and the slider 102 is movably fitted on the curved rail seat 101 along the curved shape. The rail seat 101 slides back and forth, the waist strap 105 is fixedly mounted on the seat cushion 104, the seat cushion 104 is mounted on the curved rail seat 101, and the thigh mechanism 2 is movably coupled to the slider 102. When in use, the human body is seated on the seat cushion, and the waist strap is fastened to the waist of the human body along the outer waist of the human body. The center of rotation of the slider sliding is just the center of rotation of the hip joint of the human body, and the flexion/straight of the sagittal plane of the hip joint is realized. This is comfortable to wear and ergonomic.

As shown in FIG. 3, the thigh mechanism 2 includes a thigh upper rod 201, a thigh rod 202, a thigh strap 203 and a thigh lower rod 204. The upper portion of the upper thigh rod 201 is movably connected with the slider 103 of the seat mechanism 1, the lower portion and the thigh. The rod 202 is fixedly connected, and the thigh strap 203 is fixed on the thigh rod 202. The upper part of the lower thigh rod 204 is fixedly connected with the thigh rod 202, and the lower part is fixedly connected with the upper joint plate 301 of the knee joint. The upper thigh and the thigh bar can be configured as a retractable structure to adjust the length. Through the rotational connection between the thigh rod and the U-shaped slider connecting groove, the thigh rod can be moved toward the coronal plane to realize hip abduction/adduction. The thigh straps tie the thighs of the human body.

The slider 102 is provided with a connecting groove 103. The upper part of the upper leg 201 is inserted into the connecting groove 103 and is mounted by a pin. The upper leg 201 is in the connecting groove 103 along the pin as a rotating axis along the human body. Coronal movement.

When the invention is used, the exoskeleton device follows the lower limb of the human body: when the foot of the lower limb is pressed against the ground, the lower limb is in the supporting phase, the knee joint mechanism in the exoskeleton is in the extreme straight state, and the air spring compresses to generate the supporting force. Supporting the weight of the human body, the bottom end of the force sensor contacts the ground and measures the amount of support. When the foot of the lower limb leaves the ground, the lower limb is in the swing phase, the air spring returns to the original length, and the exoskeleton knee joint flexes and follows the human knee joint freely.

It should be noted that the above description is not intended to limit the technical solutions of the present invention, and any obvious alternatives are within the scope of the present invention without departing from the inventive concept.

Claims

An exoskeleton device for reducing joint load and measuring support force of a lower limb, comprising a seat mechanism, a thigh mechanism, a knee joint mechanism, a calf mechanism and a shoe cover mechanism, wherein the thigh mechanism and the seat mechanism are movably connected to move the thigh mechanism toward the human body coronal plane The knee joint mechanism is connected to the thigh mechanism and the calf mechanism, and the shoe cover mechanism is connected to the calf mechanism, wherein the knee joint mechanism comprises a knee joint upper plate, a knee joint inner plate, a knee joint outer plate and a knee joint connection. The plate, the upper part of the knee joint is fixedly connected with the thigh mechanism, the lower part is fixedly connected with the inner plate of the knee joint, the lower part of the knee joint is fixedly connected with the outer plate of the knee joint, the lower part is fixedly connected with the lower leg mechanism, and the inner part of the knee joint is fixed. There is a first curved groove and a second curved groove. The outer surface of the knee joint is provided with a first curved axis that is movable in the first curved groove and a second curved axis that is movable in the second curved groove.
The exoskeleton device for reducing lower limb joint load and measuring supporting force according to claim 1, wherein the first curved groove is located above the second curved groove, and the length of the first curved groove is smaller than the second curve. The length of the slot.
The exoskeleton device for reducing lower limb joint load and measuring supporting force according to claim 2, wherein the first curved groove and the second curved groove are each set in an arc shape.
The exoskeleton device for reducing lower limb joint load and measuring supporting force according to claim 3, wherein the calf mechanism comprises a lower leg upper rod, a lower leg outer rod, a lower leg strap, a lower leg inner rod, an air spring, and a force sensor. The upper part of the lower leg is fixedly connected with the lower joint plate of the knee joint, the lower part is fixedly connected with the outer leg of the lower leg, the upper part of the inner leg of the lower leg is connected with the outer leg of the lower leg, the lower leg strap is fixed on the outer leg of the lower leg, the upper part of the air spring and the inner leg of the lower leg Fixed connection, the force sensor is attached to the lower end of the air spring.
The exoskeleton device for reducing the joint load of the lower limb and measuring the supporting force according to claim 4, wherein the upper portion of the inner leg of the lower leg is inserted into the outer leg of the lower leg and is engaged with the outer leg of the lower leg, and the upper portion of the air spring is extended. Installed in the inner leg of the calf.
The exoskeleton device for reducing lower limb joint load and measuring supporting force according to claim 5, wherein the shoe cover mechanism comprises an L-shaped sole plate, a connecting plate, a spring connecting barrel, a foot outer Velcro, and a heel Velcro and velcro on the back, the outer velcro, the heel velcro and the velcro on the sole are mounted on the sole of the shoe. The connecting plate is fixedly connected to the outer side of the sole, and the spring is connected to the spring. The board is mounted and the spring connection sleeve is placed under the air spring.
The exoskeleton device for reducing lower limb joint load and measuring supporting force according to claim 6, wherein a hinge hinge is provided between the connecting plate and the spring connecting barrel, and one side of the hinge hinge and the connecting plate The fixed connection, the other of the hinge hinges is movably connected to the spring connection barrel.
The exoskeleton device for reducing lower limb joint load and measuring supporting force according to claim 7, wherein the seat mechanism comprises a curved rail seat, a slider, a curved seat cushion and a waist strap, and the slider activity The set slides along the curved rail seat on the curved rail seat, the waist strap is fixedly mounted on the seat cushion, the seat cushion is mounted on the curved rail seat, and the thigh mechanism is movably connected with the slider.
The exoskeleton device for reducing lower limb joint load and measuring supporting force according to claim 8, wherein the thigh mechanism comprises a thigh upper rod, a thigh rod, a thigh strap and a thigh lower rod, and the upper leg and the upper leg of the thigh The chair mechanism is connected, the lower part is fixedly connected with the thigh rod, the thigh strap is fixed on the thigh rod, the upper part of the lower leg is fixedly connected with the thigh rod, the lower part is fixedly connected with the connecting plate on the knee joint, and the upper leg of the thigh is movably connected with the slider.
The exoskeleton device for reducing lower limb joint load and measuring support force according to claim 9, wherein The slider is provided with a connecting groove, and the upper part of the upper leg of the thigh is inserted into the connecting groove and is mounted by a pin, and the upper leg of the thigh moves in the connecting groove along the crown surface of the human body with the pin as a rotating axis.