WO2018098849A1 - 一种可测量人体下肢坐姿的可穿戴式外骨骼座椅装置 - Google Patents

一种可测量人体下肢坐姿的可穿戴式外骨骼座椅装置 Download PDF

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Publication number
WO2018098849A1
WO2018098849A1 PCT/CN2016/109426 CN2016109426W WO2018098849A1 WO 2018098849 A1 WO2018098849 A1 WO 2018098849A1 CN 2016109426 W CN2016109426 W CN 2016109426W WO 2018098849 A1 WO2018098849 A1 WO 2018098849A1
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WO
WIPO (PCT)
Prior art keywords
thigh
rod
connecting rod
calf
leg
Prior art date
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Ceased
Application number
PCT/CN2016/109426
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English (en)
French (fr)
Inventor
王东海
李国民
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Guangdong Sygole Intelligent Technology Co Ltd
Huazhong University of Science and Technology
Original Assignee
Guangdong Sygole Intelligent Technology Co Ltd
Huazhong University of Science and Technology
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Application filed by Guangdong Sygole Intelligent Technology Co Ltd, Huazhong University of Science and Technology filed Critical Guangdong Sygole Intelligent Technology Co Ltd
Publication of WO2018098849A1 publication Critical patent/WO2018098849A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • A61H1/0229—Drawing-out devices by reducing gravity forces normally applied to the body, e.g. by lifting or hanging the body or part of it
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices ; Anti-rape devices
    • A61F5/01—Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces
    • 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
    • A61H2201/1628—Pelvis
    • A61H2201/1633—Seat
    • 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
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/08—Trunk
    • A61H2205/085—Crotch
    • 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
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/10—Leg
    • A61H2205/108—Leg for the upper legs

Definitions

  • the invention belongs to the field of medical auxiliary equipment and sports equipment, and particularly relates to a wearable exoskeleton seat device capable of measuring a sitting posture of a lower limb of a human body.
  • the gait support phase supports the human body weight
  • the gait swing follows the human body movement
  • 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.
  • the existing 'wearable chair' has two shortcomings: on the one hand, the existing scheme mostly adopts the 'thigh rod, the lower leg rod and the support rod' 3-link mechanism scheme, and can only realize the single-legged rod to the ground.
  • Point support because the operator's upper limbs move, the body needs to constantly adjust the sitting posture to maintain the balance of gravity, the seat is not a stable structure; at the same time in the 3-bar linkage 'Support rod'
  • a pneumatic spring with an initial compression force is used, so that the three-bar linkage mechanism is a fixed locking structure in the case of a small external force, which limits the flexion of the knee joint and is inconvenient for the human body to walk.
  • some 'wearable chairs' can only play the role of a chair when sitting, and the human body can walk after being taken off, greatly increasing the complexity of use, and not showing the convenience of wearable. effect.
  • the technical problem to be solved by the present invention is to provide a wearable exoskeleton seat device that is easy to wear and comfortable, is beneficial for reducing joint muscle load and fatigue of the lower limbs, and can measure the sitting posture of the lower limbs.
  • the present invention adopts the following technical solutions:
  • a wearable exoskeleton seat device capable of measuring a sitting posture of a lower limb of a human body, comprising a seat mechanism, a shoe cover mechanism and a four-bar linkage mechanism, the four-bar linkage mechanism comprising a thigh mechanism, a calf mechanism, a support mechanism and a swinging foot mechanism
  • the thigh mechanism and the seat mechanism are movably connected to move the thigh mechanism toward the coronal plane of the human body, and the calf mechanism and the thigh mechanism are movably connected to move the calf mechanism toward the sagittal plane of the human body, and the supporting mechanism is movably connected with the thigh mechanism, and the swinging mechanism is respectively
  • the calf mechanism and the supporting mechanism are connected in an active manner.
  • the thigh mechanism includes a thigh rod, a thigh upper connecting rod, a thigh support connecting block, a thigh strap, a thigh lower connecting rod and a thigh inertial measuring unit, the upper part of the thigh upper connecting rod is movably connected with the seat mechanism, and the lower part is connected with the thigh rod.
  • the thigh support connecting block and the thigh strap are respectively fixedly mounted on the thigh rod, the upper part of the thigh lower connecting rod is connected with the thigh rod, the lower part is connected with the lower leg mechanism, the thigh inertial measuring unit is embedded in the thigh rod, and the thigh supporting connecting block Connected to the support mechanism.
  • the lower part of the connecting rod on the thigh is inserted into the thigh rod and is snap-fitted to form a telescopic structure, and the upper part of the lower thigh connecting rod is inserted into the thigh rod and snap-fitted to form a telescopic structure.
  • the calf mechanism comprises a lower leg inner rod, a lower leg outer rod, a lower leg upper connecting rod, a calf swing foot connecting block and a calf inertia measuring unit, the lower part of the connecting rod on the lower leg is fixedly connected with the inner leg of the lower leg, and the upper part is connected with the lower connecting rod of the thigh.
  • the inner leg of the lower leg is connected with the outer leg of the lower leg, and the connecting piece of the lower leg is fixedly mounted on the outer leg of the lower leg, and the inertial measuring unit of the lower leg is embedded in the inner leg of the lower leg, and the connecting piece of the lower leg is connected with the swinging foot mechanism.
  • the inner leg of the lower leg is inserted into the outer leg of the lower leg and is snap-fitted to form a telescopic structure.
  • the support mechanism comprises a support rod, a pneumatic spring outer rod, a pneumatic spring inner rod, a support thigh connecting rod and a support swing rod connecting rod, the upper part of the supporting swing rod connecting rod is fixedly connected with the support rod, and the lower part is connected with the swinging foot mechanism, pneumatically
  • the lower part of the spring outer rod is inserted into the support rod to be assembled and assembled to form a telescopic structure, the lower end of the pneumatic spring inner rod is movably connected with the outer pole of the pneumatic spring, the upper end is fixedly connected with the supporting thigh connecting rod, and the upper part of the thigh connecting rod and the thigh in the thigh mechanism are supported.
  • the support connecting block is movably connected, and the supporting pendulum connecting rod is movably connected with the swinging foot mechanism.
  • the inner rod of the pneumatic spring is further provided with a linear spring, and the upper end of the linear spring abuts against the lower end surface of the supporting thigh connecting rod, and the lower end of the linear spring abuts against the upper end surface of the outer rod of the pneumatic spring.
  • the swinging foot mechanism comprises a swinging foot rod, a swinging foot supporting connecting rod and a swinging foot calf connecting rod.
  • One end of the swinging leg calf connecting rod is fixedly connected with the swinging foot rod, and the other end is connected with the calf swinging foot connecting block, and the swinging foot supporting connection is connected.
  • the rod is fixedly mounted on the swinging foot rod, and the swinging foot supporting connecting rod is movably connected with the supporting swing rod connecting rod.
  • the shoe cover mechanism comprises an L-shaped sole plate, a foot outer Velcro, a back velcro and a heel velcro.
  • the vertical side of the L-shaped sole plate is connected with the outer leg of the calf, and the outer velcro is fixed.
  • On the bottom surface of the L-shaped sole plate one end of the back velcro is connected to the vertical side of the L-shaped sole, and the other end is attached to the outer velcro of the foot, and the end of the heel velcro and the vertical of the L-shaped sole.
  • the side is connected and the other end is attached to the outer velcro of the foot.
  • the seat mechanism includes a curved seat, a waist strap and a seat connecting block, the waist strap is fastened to the curved seat, and the upper part of the seat connecting block is movably connected with the curved seat to make the seat connecting block Moving toward the sagittal plane of the human body, the lower portion of the seat connecting block is movably connected to the connecting rod on the thigh in the thigh mechanism.
  • the device of the invention adjusts the length of each rod to a comfortable sitting posture of the human body before being worn by the human body, and the human body can be seated anywhere after being worn, thereby reducing the soreness of the muscles and joints of the lower limbs when standing for a long time, and effectively preventing and slowing down the osteoarthritis of the lower limbs.
  • Diseases such as varicose veins of the lower extremities and back spasm; when the human body needs to walk, the exoskeleton of the lower extremities is automatically retracted when the human body is raised, and the exoskeleton and the human body walk synchronously without affecting the human body walking.
  • the inertial measurement unit can measure and record the sitting posture of the lower limbs of the human body, and compare with the standard sitting posture, which can correct the wearer's bad sitting posture.
  • Figure 1 is a schematic perspective view showing the structure of the present invention when seated
  • Figure 2 is a schematic view showing the three-dimensional structure of the present invention when standing
  • Figure 3 is a perspective view showing the structure of the seat mechanism of the present invention.
  • Figure 4 is a perspective view showing the structure of the thigh mechanism of the present invention.
  • Figure 5 is a perspective view showing the structure of the lower leg mechanism of the present invention.
  • Figure 6 is a perspective view showing the structure of the supporting mechanism of the present invention.
  • Figure 7 is a perspective view showing the structure of the swinging foot mechanism of the present invention.
  • Figure 8 is a perspective view showing the structure of the shoe cover mechanism of the present invention.
  • the present invention discloses a wearable exoskeleton seat device capable of measuring a lower limb sitting posture of a human body, including a seat mechanism 1, a shoe cover mechanism 6, and a four-bar linkage mechanism, the four-link mechanism
  • the mechanism is composed of a thigh mechanism 2, a calf mechanism 3, a support mechanism 4 and a swinging mechanism 5, and the thigh mechanism 2 is movably connected with the seat mechanism 1 to move the thigh mechanism 2 toward the coronal plane of the human body, and the calf mechanism 3 is movably connected with the thigh mechanism 2
  • the calf mechanism 3 is moved toward the sagittal plane of the human body, and the support mechanism 4 is movably connected to the thigh mechanism 2, and the swing mechanism 5 is movably connected to the calf mechanism 3 and the support mechanism 4, respectively.
  • the seat mechanism 1 includes a curved seat 101, a waist strap 102, and a seat connecting block 103.
  • the waist strap 102 is fastened to the curved seat 101, and the upper portion of the seat connecting block 103 is The movable connection of the curved seat 101 causes the seat connecting block 103 to move toward the sagittal plane of the human body, and the lower portion of the seat connecting block 103 is movably coupled to the thigh mechanism 2.
  • the human body is seated on the U-shaped seat, and the waist straps buckle the waist of the human body along the waist of the human body to achieve flexion/stretching of the sagittal plane of the hip joint.
  • the thigh mechanism 2 includes a thigh rod 201, a thigh upper connecting rod 202, a thigh support connecting block 203, a thigh strap 204, a thigh lower connecting rod 205, and a thigh inertial measuring unit, and an upper portion of the thigh upper connecting rod 202
  • the seat connecting block 103 of the seat mechanism is movably connected, the lower portion is mounted and connected with the thigh rod 201, and the thigh support connecting block 203 and the thigh strap 204 are fixedly mounted on the thigh rod 201, respectively, and the upper thigh connecting rod 205 and the thigh rod 201 are mounted.
  • connection, the lower portion and the lower leg mechanism 3 are movably connected, the thigh inertial measurement unit is embedded in the thigh rod 201, and the thigh support connection block 203 is movably connected with the support mechanism 4.
  • the lower part of the connecting rod on the thigh is inserted into the thigh rod and is snap-fitted to form a telescopic structure.
  • the upper part of the lower thigh connecting rod is inserted into the thigh rod and snap-fitted to form a telescopic structure.
  • the length can be adjusted as needed, suitable for all types of people.
  • the thigh rod 201 can be moved toward the coronal plane to realize hip abduction/adduction.
  • the thigh straps tie the thighs of the human body.
  • the thigh inertial measurement unit is capable of measuring the tilting posture of the thigh rod and the horizontal plane when the human body is seated, that is, the sitting posture of the human thigh.
  • the calf mechanism 3 includes a lower leg inner rod 301, a lower leg outer rod 302, a lower leg upper connecting rod 303, a calf swing foot connecting block 304, and a lower leg inertia measuring unit, and a lower leg connecting rod 303 lower portion and a lower leg inner rod 301.
  • the fixed connection, the upper part and the lower thigh connection rod 205 are movably connected, the calf inner rod 301 is connected with the calf outer rod 302, the calf swing foot connecting block 304 is fixedly mounted on the calf outer rod 302, and the calf inertia measuring unit is embedded in the calf inner rod.
  • the calf swing joint block 304 is movably connected to the swing foot mechanism 5.
  • the inner leg of the calf is inserted into the outer leg of the lower leg and snap-fitted to form a telescopic structure, which is convenient for adjusting the length and is suitable for use.
  • the calf inertial measurement unit is capable of measuring the tilting posture of the inner leg and the horizontal plane when the human body is seated, that is, the sitting posture of the human calf.
  • the connecting rod on the lower leg and the connecting rod under the thigh form a hinge joint that can accommodate the flexion/straight movement of the sagittal plane of the knee joint.
  • the support mechanism 4 includes a support rod 401, a pneumatic spring outer rod 402, a pneumatic spring inner rod 403, a support thigh connecting rod 404, and a support swing rod connecting rod 406 for supporting the upper portion of the swing rod connecting rod 406 and the support rod.
  • the lower end of the pneumatic spring outer rod 402 is inserted into the support rod 401 to form a telescopic structure, and the lower end of the pneumatic spring inner rod 403 is movably connected with the pneumatic spring outer rod 402, and the upper end is connected with the 401 fixed connection and the lower portion and the swinging foot mechanism 5.
  • the support thigh connecting rod 404 is fixedly connected, and the upper portion of the supporting thigh connecting rod 404 is movably connected with the thigh supporting connecting block 203 in the thigh mechanism 2, and the supporting swing link connecting rod 406 is movably connected with the swinging foot mechanism 5.
  • the pneumatic spring inner rod 403 is also provided with a linear spring 405.
  • the upper end of the linear spring 405 abuts against the lower end surface of the supporting thigh connecting rod 404, and the lower end of the linear spring 405 abuts against the upper end surface of the pneumatic spring outer rod 402.
  • the length of the pneumatic spring outer rod and the support rod is a telescopic structure, which can be adjusted according to the needs.
  • the pneumatic spring and the linear spring form a parallel spring to support the weight of the human body.
  • the pneumatic spring provides an approximately constant supporting force, and the supporting force provided by the linear spring linearly increases as the compression length increases, so two
  • the parallel connection of the spring provides a large initial support force and a large supporting force after compression, which can provide sufficient support force for different weight users, and can prevent the initial support force from being insufficient to cause the human body to fall.
  • the swinging foot mechanism 5 includes a swinging foot rod 501, a swinging foot supporting connecting rod 502, and a swinging leg connecting rod 503.
  • One end of the swinging leg connecting rod 503 is fixedly connected with the swinging foot rod 501, and the other end and the lower leg.
  • the swinging foot connecting block 304 is movably connected, and the swinging foot supporting connecting rod 502 is fixedly mounted on the swinging foot rod 501, and the swinging foot supporting connecting rod 502 is movably connected with the supporting swinging rod connecting rod 406.
  • the mounting position can be adjusted as needed.
  • the shoe cover mechanism 6 includes an L-shaped sole plate 601, a foot outer velcro 602, a foot velcro 603, and a heel velcro 604.
  • the vertical side and the calf of the L-shaped sole 601 The outer rod 302 is mounted and connected, and the outer velcro 602 is fixed on the bottom surface of the L-shaped sole 601.
  • One end of the velcro 603 is connected to the vertical side of the L-shaped sole 601, and the other end is affixed to the outer velcro of the foot.
  • one end of the heel velcro 604 is attached to the vertical side of the L-shaped sole 601 and the other end is affixed to the outer velcro 602 of the foot.
  • the articulated articulation of the L-shaped sole plate and the external leg of the calf increases the degree of freedom of flexion/stretching of the ankle joint.
  • the connection between the outer side of the velcro, the back velcro and the heel velcro is easy, soft, stable and reliable.
  • the swinging foot bar 501 When the device of the present invention is seated, as shown in FIG. 1, the swinging foot bar 501 is in contact with the ground surface of the outer leg of the lower leg 302 at the same time to support the ground, and the thigh bar 201 is inclined at an angle with respect to the outer leg 302 of the lower leg.
  • the seat connecting block 103 is inclined at an angle to the curved seat 101.
  • the seat connecting block 103, the thigh rod 201 and the lower leg outer rod 302 When standing, as shown in Fig. 2, the seat connecting block 103, the thigh rod 201 and the lower leg outer rod 302 are in a straight line state at this time.
  • the human body When the invention is worn, the human body is seated on the U-shaped seat, the waist straps are fastened to the waist of the human body along the waist of the human body, the thigh straps are tied on the thighs of the lower limbs, the soles of the feet are stepped on the bottom plate of the L-shaped soles, and the soles of the feet are velcroed.
  • the buckle and the heel velcro buckle are fastened around the foot and the heel and the outer velcro of the foot. Adjust the length of each rod until it is suitable for human body wear.
  • the human body when the human body stands for a long time of fatigue of the lower limbs and the waist is sore, the human body can be seated anytime and anywhere, and the thigh mechanism, the calf mechanism, the support mechanism and the swinging foot mechanism form a 4-bar linkage mechanism, wherein the lower leg mechanism and the swinging foot mechanism Contact with the ground to form a ground support range, the human body weight falls within the support range, and can stably support the human body weight.
  • the thigh inertial measurement unit and the calf inertial measurement unit can measure and record the sitting posture of the lower limb of the human body, and compare with the standard sitting posture, and can correct the wearer's bad sitting posture.
  • the exoskeleton lower limb swinging foot rod is also automatically retracted, the thigh mechanism, the calf mechanism and the human body lower limbs travel synchronously, and the supporting mechanism and the swinging foot mechanism follow the movement inside and behind the human body, and the human body walking is not affected.

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Abstract

一种可测量人体下肢坐姿的可穿戴式外骨骼座椅装置，包括座椅机构（1）、鞋套机构（6）和四连杆机构，该四连杆机构由大腿机构（2）、小腿机构（3）、支撑机构（4）和摆脚机构（5）组成，大腿机构（2）与座椅机构（1）活动连接使该大腿机构（2）朝向人体冠状面运动，小腿机构（3）与大腿机构（2）活动连接使该小腿机构（3）朝向人体矢状面运动，支撑机构（4）与大腿机构（2）活动连接，摆脚机构（5）分别与小腿机构（3）、支撑机构（4）活动连接。该可穿戴式外骨骼座椅装置穿戴简便、舒适，有利于减轻下肢关节肌肉负载和疲劳，并可测量下肢坐姿。

Description

一种可测量人体下肢坐姿的可穿戴式外骨骼座椅装置
技术领域
本发明属于医疗辅助器械领域和运动装备器械领域，尤其涉及一种可测量人体下肢坐姿的可穿戴式外骨骼座椅装置。
背景技术
随着社会老龄化的日益加剧和不健康的生活方式导致肥胖比例的快速上升，人体的髋关节炎、膝关节炎和踝关节炎等下肢骨性关节炎疾病发病率逐年增高，并呈现年轻化的趋势，极大影响了患者的正常生活和行动，给家庭带来了沉重的康复和经济负担。下肢骨性关节炎的发病机制复杂，其中，关节过度受力是一个重要原因。下肢各关节在人体行走过程中支撑了人体体重和行走时的动态力，各关节内部存在滚动、滑动、扭动等复杂运动，过度受力导致了关节过度地摩擦、磨损，破坏了关节的软组织结构，加速了关节炎的病变，造成患者关节疼痛和步态异常。为了预防和康复下肢骨性关节炎，一个重要的手段是利用和人体同步行走的下肢外骨骼装置，在步态支撑相支撑人体体重、在步态摆动相跟随人体运动，减轻下肢关节支撑人体时的负载力，减小患者行走时的疼痛感，同时测量支撑力，定量化记录使用效果，评价人体舒适感。
随着中国工业化进程的加速，生产线上的工人越来越多，但是长时间站立从事生产劳动很容易引起下肢肌肉酸痛，甚至下肢静脉曲张，导致生产效率的降低。医院里的医生做手术时，长时间站立容易造成背部疲劳、下肢关节酸痛，分散了手术时的注意力，增大了手术风险。在医院护理病人时，需要对瘫痪患者进行'病床-轮椅'之间的抱起转移，但是中国医院里护士女性居多，同时女护士力气比较小，基本需要护士半蹲后才能抱起病人，护士下肢没有支撑点，不但抱起病人困难，而且有前倾后倒的风险。为了在长时间站立或者半蹲负重时减轻下肢关节肌肉负载，出现了各种'可穿戴式椅子'，人体穿戴后能够随地就座。
现有的'可穿戴式椅子'存在两方面的不足：一方面，现有方案多数采用'大腿杆、小腿杆和支撑杆'3连杆机构方案，只能实现'小腿杆'对地面的单点支撑，由于操作者上肢活动，人体需要不断调整坐姿才能保持重心平衡，座椅不是稳定结构；同时3连杆机构中的 ' 支撑杆 ' 一般采用带有初始压缩力的气动弹簧，因此在外界力较小的情况下，这种3连杆机构是一种固定锁死的结构，这就限制了膝关节的屈曲，不方便人体行走。另一方面，一些'可穿戴式椅子'只能在就座时起到椅子的效果，使用完毕必须脱下来后人体才能行走，大大增加了使用时的复杂程度，没有能体现可穿戴式的方便效果。
发明内容
本发明要解决的技术问题是提供一种穿戴简便、舒适，有利于减轻下肢关节肌肉负载和疲劳，并可测量下肢坐姿的可穿戴式外骨骼座椅装置。
为了解决上述技术问题，本发明采取以下技术方案：
一种可测量人体下肢坐姿的可穿戴式外骨骼座椅装置，包括座椅机构、鞋套机构和四连杆机构，该四连杆机构由大腿机构、小腿机构、支撑机构和摆脚机构组成，大腿机构与座椅机构活动连接使该大腿机构朝向人体冠状面运动，小腿机构与大腿机构活动连接使该小腿机构朝向人体矢状面运动，支撑机构与大腿机构活动连接，摆脚机构分别与小腿机构、支撑机构活动连接。
所述大腿机构包括大腿杆、大腿上连接杆、大腿支撑连接块、大腿绑带、大腿下连接杆和大腿惯性测量单元，大腿上连接杆上部与座椅机构活动连接、下部与大腿杆安装连接，大腿支撑连接块和大腿绑带分别固定安装在大腿杆上，大腿下连接杆上部与大腿杆安装连接、下部与小腿机构活动连接，大腿惯性测量单元内嵌在大腿杆内，大腿支撑连接块与支撑机构活动连接。
所述大腿上连接杆下部插装入大腿杆内并卡合安装形成伸缩结构，大腿下连接杆上部插装入大腿杆内并卡合安装形成伸缩结构。
所述小腿机构包括小腿内杆、小腿外杆、小腿上连接杆、小腿摆脚连接块和小腿惯性测量单元，小腿上连接杆下部与小腿内杆固定连接、上部与大腿下连接杆活动连接，小腿内杆与小腿外杆安装连接，小腿摆脚连接块固定安装在小腿外杆上，小腿惯性测量单元内嵌在小腿内杆中，小腿摆脚连接块与摆脚机构活动连接。
所述小腿内杆插装入小腿外杆内并卡合安装形成伸缩结构。
所述支撑机构包括支撑杆、气动弹簧外杆、气动弹簧内杆、支撑大腿连接杆和支撑摆杆连接杆，支撑摆杆连接杆上部与支撑杆固定连接、下部与摆脚机构活动连接，气动弹簧外杆下部插装入支撑杆内卡合安装形成伸缩结构，气动弹簧内杆下端与气动弹簧外杆活动连接、上端与支撑大腿连接杆固定连接，支撑大腿连接杆上部与大腿机构中的大腿支撑连接块活动连接，支撑摆杆连接杆与摆脚机构活动连接。
所述气动弹簧内杆上还套装有直线弹簧，该直线弹簧上端抵顶着支撑大腿连接杆下端面，该直线弹簧下端抵顶着气动弹簧外杆的上端面。
所述摆脚机构包括摆脚杆、摆脚支撑连接杆和摆脚小腿连接杆，摆脚小腿连接杆一端与摆脚杆固定连接、另一端与小腿摆脚连接块活动连接，摆脚支撑连接杆固定安装在摆脚杆上，该摆脚支撑连接杆与支撑摆杆连接杆活动连接。
所述鞋套机构包括L型鞋底板、足外侧尼龙搭扣、足背尼龙搭扣和足后跟尼龙搭扣，L型鞋底板的竖直侧面与小腿外杆安装连接，足外侧尼龙搭扣固定在L型鞋底板的底面，足背尼龙搭扣一端与L型鞋底板的竖直侧面连接、另一端粘贴到足外侧尼龙搭扣上，足后跟尼龙搭扣一端与L型鞋底板的竖直侧面连接、另一端粘贴到足外侧尼龙搭扣上。
所述座椅机构包括弧形座椅、腰部绑带和座椅连接块，腰部绑带紧固在弧形座椅上，座椅连接块上部与弧形座椅活动连接使该座椅连接块朝向人体矢状面运动，该座椅连接块下部与大腿机构中的大腿上连接杆活动连接。
本发明具有以下有益效果：
本发明装置在人体穿戴前，先调节各杆的长度至人体舒服的坐姿，穿戴后人体可以随地就座，减轻长时间站立时下肢肌肉关节的酸痛感，能够有效预防并减缓下肢骨性关节炎、下肢静脉曲张、背部痉挛等疾病；当人体需要行走时，人体起身时外骨骼下肢摆脚杆也自动收起，外骨骼和人体同步行走，不影响人体行走。惯性测量单元可以测量、记录人体下肢的坐姿，和标准坐姿对比，能够纠正穿戴者的不良坐姿习惯。
附图说明
附图1为本发明就座时的立体结构示意图；
附图2为本发明站立时的立体结构示意图；
附图3为本发明座椅机构的立体结构示意图；
附图4为本发明大腿机构的立体结构示意图；
附图5为本发明小腿机构的立体结构示意图；
附图6为本发明支撑机构的立体结构示意图；
附图7为本发明摆脚机构的立体结构示意图；
附图8为本发明鞋套机构的立体结构示意图。
具体实施方式
为了便于本领域技术人员的理解，下面结合附图对本发明作进一步的描述。
如附图1和2所示，本发明揭示了一种可测量人体下肢坐姿的可穿戴式外骨骼座椅装置，包括座椅机构1、鞋套机构6和四连杆机构，该四连杆机构由大腿机构2、小腿机构3、支撑机构4和摆脚机构5组成，大腿机构2与座椅机构1活动连接使该大腿机构2朝向人体冠状面运动，小腿机构3与大腿机构2活动连接使该小腿机构3朝向人体矢状面运动，支撑机构4与大腿机构2活动连接，摆脚机构5分别与小腿机构3、支撑机构4活动连接。
如附图3所示，座椅机构1包括弧形座椅101、腰部绑带102和座椅连接块103，腰部绑带102紧固在弧形座椅101上，座椅连接块103上部与弧形座椅101活动连接使该座椅连接块103朝向人体矢状面运动，该座椅连接块103下部与大腿机构2活动连接。使用时人体就座在U型座椅上，腰部绑带沿着人体腰部扣住人体腰部，实现髋关节矢状面的屈曲/伸直。
如附图4所示，大腿机构2包括大腿杆201、大腿上连接杆202、大腿支撑连接块203、大腿绑带204、大腿下连接杆205和大腿惯性测量单元，大腿上连接杆202上部与座椅机构的座椅连接块103活动连接、下部与大腿杆201安装连接，大腿支撑连接块203和大腿绑带204分别固定安装在大腿杆201上，大腿下连接杆205上部与大腿杆201安装连接、下部与小腿机构3活动连接，大腿惯性测量单元内嵌在大腿杆201内，大腿支撑连接块203与支撑机构4活动连接。大腿上连接杆下部插装入大腿杆内并卡合安装形成伸缩结构，大腿下连接杆上部插装入大腿杆内并卡合安装形成伸缩结构。可根据需要调节长度，适合各类人群使用。通过大腿上连接杆202与座椅连接块103之间的转动连接，使得大腿杆201能够朝向冠状面运动，实现髋关节外展/内收。大腿绑带绑住人体大腿。大腿惯性测量单元能够测量人体就座时大腿杆和水平面的倾斜姿态，即人体大腿坐姿。
如附图5所示，小腿机构3包括小腿内杆301、小腿外杆302、小腿上连接杆303、小腿摆脚连接块304和小腿惯性测量单元，小腿上连接杆303下部与小腿内杆301固定连接、上部与大腿下连接杆205活动连接，小腿内杆301与小腿外杆302安装连接，小腿摆脚连接块304固定安装在小腿外杆302上，小腿惯性测量单元内嵌在小腿内杆301中，小腿摆脚连接块304与摆脚机构5活动连接。小腿内杆插装入小腿外杆内并卡合安装形成伸缩结构，便于调节长度，适合使用。小腿惯性测量单元能够测量人体就座时小腿内杆和水平面的倾斜姿态，即人体小腿坐姿。小腿上连接杆和大腿下连接杆组成一个铰链关节，能够容纳膝关节矢状面的屈曲/伸直运动。
如附图6所示，支撑机构4包括支撑杆401、气动弹簧外杆402、气动弹簧内杆403、支撑大腿连接杆404和支撑摆杆连接杆406，支撑摆杆连接杆406上部与支撑杆401固定连接、下部与摆脚机构5活动连接，气动弹簧外杆402下部插装入支撑杆401内卡合安装形成伸缩结构，气动弹簧内杆403下端与气动弹簧外杆402活动连接、上端与支撑大腿连接杆404固定连接，支撑大腿连接杆404上部与大腿机构2中的大腿支撑连接块203活动连接，支撑摆杆连接杆406与摆脚机构5活动连接。气动弹簧内杆403上还套装有直线弹簧405，该直线弹簧405上端抵顶着支撑大腿连接杆404下端面，该直线弹簧405下端抵顶着气动弹簧外杆402的上端面。气动弹簧外杆和支撑杆之间为长度伸缩式结构，可根据需要进行长度调节。气动弹簧和直线弹簧组成并联弹簧支撑人体重量，当人体就座压缩两个弹簧时，气动弹簧提供近似恒定的支撑力，直线弹簧提供的支撑力随着压缩长度增大而线性增大，因此两弹簧的并联连接方式提供了较大的初始支撑力和压缩后的大支撑力，既能提供不同体重使用者足够的支撑力，又能防止初始支撑力不足导致人体坐空摔倒。
如附图7所示，摆脚机构5包括摆脚杆501、摆脚支撑连接杆502和摆脚小腿连接杆503，摆脚小腿连接杆503一端与摆脚杆501固定连接、另一端与小腿摆脚连接块304活动连接，摆脚支撑连接杆502固定安装在摆脚杆501上，该摆脚支撑连接杆502与支撑摆杆连接杆406活动连接。可根据需要进行安装位置的调节。
如附图8所示，鞋套机构6包括L型鞋底板601、足外侧尼龙搭扣602、足背尼龙搭扣603和足后跟尼龙搭扣604，L型鞋底板601的竖直侧面与小腿外杆302安装连接，足外侧尼龙搭扣602固定在L型鞋底板601的底面，足背尼龙搭扣603一端与L型鞋底板601的竖直侧面连接、另一端粘贴到足外侧尼龙搭扣602上，足后跟尼龙搭扣604一端与L型鞋底板601的竖直侧面连接、另一端粘贴到足外侧尼龙搭扣602上。L型鞋底板和小腿外杆以铰链方式的活动连接增加了踝关节屈曲/伸直的自由度。足外侧尼龙搭扣、足背尼龙搭扣和足后跟尼龙搭扣之间尼龙搭扣粘贴的连接方式具有方便、柔软、稳定可靠的特点。
本发明装置就座时，如附图1所示，摆脚杆501向下与小腿外杆302面同时接触地面，一起起到支撑作用，而且大腿杆201相对于小腿外杆302呈倾斜角度，座椅连接块103与弧形座椅101呈一定角度的倾斜。当站立时，如附图2所示，此时座椅连接块103、大腿杆201和小腿外杆302呈一直线状态。
本发明穿戴时，人体就座在U型座椅上，腰部绑带沿着人体腰部扣住人体腰部，将大腿绑带绑在下肢大腿上，脚底踩在L型鞋底板上，足背尼龙搭扣和足后跟尼龙搭扣分别绕过足背和足后跟与足外侧尼龙搭扣紧固粘贴。调节各杆的长度直至适合人体穿戴。
本发明使用时，当人体长时间站立下肢疲劳、腰部酸痛时，人体可以随时随地就座，大腿机构、小腿机构、支撑机构和摆脚机构组成4连杆机构，其中，小腿机构和摆脚机构与地面接触形成地面支撑范围，人体重心落在支撑范围内，能够稳定支撑人体体重。大腿惯性测量单元和小腿惯性测量单元能够测量、记录人体下肢的坐姿，和标准坐姿对比，能够纠正穿戴者的不良坐姿习惯。当人体需要行走时，人体起身时外骨骼下肢摆脚杆也自动收起，大腿机构、小腿机构和人体下肢同步行走，支撑机构和摆脚机构在人体内侧和身后跟随运动，不会影响人体行走。
需要说明的是，以上所述并非是对本发明技术方案的限定，在不脱离本发明的创造构思的前提下，任何显而易见的替换均在本发明的保护范围之内。

Claims (10)

  1. 一种可测量人体下肢坐姿的可穿戴式外骨骼座椅装置，包括座椅机构和鞋套机构，其特征在于，还包括四连杆机构，该四连杆机构由大腿机构、小腿机构、支撑机构和摆脚机构组成，大腿机构与座椅机构活动连接使该大腿机构朝向人体冠状面运动，小腿机构与大腿机构活动连接使该小腿机构朝向人体矢状面运动，支撑机构与大腿机构活动连接，摆脚机构分别与小腿机构、支撑机构活动连接。
  2. 根据权利要求1所述的可测量人体下肢坐姿的可穿戴式外骨骼座椅装置，其特征在于，所述大腿机构包括大腿杆、大腿上连接杆、大腿支撑连接块、大腿绑带、大腿下连接杆和大腿惯性测量单元，大腿上连接杆上部与座椅机构活动连接、下部与大腿杆安装连接，大腿支撑连接块和大腿绑带分别固定安装在大腿杆上，大腿下连接杆上部与大腿杆安装连接、下部与小腿机构活动连接，大腿惯性测量单元内嵌在大腿杆内，大腿支撑连接块与支撑机构活动连接。
  3. 根据权利要求2所述的可测量人体下肢坐姿的可穿戴式外骨骼座椅装置，其特征在于，所述大腿上连接杆下部插装入大腿杆内并卡合安装形成伸缩结构，大腿下连接杆上部插装入大腿杆内并卡合安装形成伸缩结构。
  4. 根据权利要求3所述的可测量人体下肢坐姿的可穿戴式外骨骼座椅装置，其特征在于，所述小腿机构包括小腿内杆、小腿外杆、小腿上连接杆、小腿摆脚连接块和小腿惯性测量单元，小腿上连接杆下部与小腿内杆固定连接、上部与大腿下连接杆活动连接，小腿内杆与小腿外杆安装连接，小腿摆脚连接块固定安装在小腿外杆上，小腿惯性测量单元内嵌在小腿内杆中，小腿摆脚连接块与摆脚机构活动连接。
  5. 根据权利要求4所述的可测量人体下肢坐姿的可穿戴式外骨骼座椅装置，其特征在于，所述小腿内杆插装入小腿外杆内并卡合安装形成伸缩结构。
  6. 根据权利要求5所述的可测量人体下肢坐姿的可穿戴式外骨骼座椅装置，其特征在于，所述支撑机构包括支撑杆、气动弹簧外杆、气动弹簧内杆、支撑大腿连接杆和支撑摆杆连接杆，支撑摆杆连接杆上部与支撑杆固定连接、下部与摆脚机构活动连接，气动弹簧外杆下部插装入支撑杆内卡合安装形成伸缩结构，气动弹簧内杆下端与气动弹簧外杆活动连接、上端与支撑大腿连接杆固定连接，支撑大腿连接杆上部与大腿机构中的大腿支撑连接块活动连接，支撑摆杆连接杆与摆脚机构活动连接。
  7. 根据权利要求6所述的可测量人体下肢坐姿的可穿戴式外骨骼座椅装置，其特征在于，所述气动弹簧内杆上还套装有直线弹簧，该直线弹簧上端抵顶着支撑大腿连接杆下端面，该直线弹簧下端抵顶着气动弹簧外杆的上端面。
  8. 根据权利要求7所述的可测量人体下肢坐姿的可穿戴式外骨骼座椅装置，其特征在于，所述摆脚机构包括摆脚杆、摆脚支撑连接杆和摆脚小腿连接杆，摆脚小腿连接杆一端与摆脚杆固定连接、另一端与小腿摆脚连接块活动连接，摆脚支撑连接杆固定安装在摆脚杆上，该摆脚支撑连接杆与支撑摆杆连接杆活动连接。
  9. 根据权利要求8所述的可测量人体下肢坐姿的可穿戴式外骨骼座椅装置，其特征在于，所述鞋套机构包括L型鞋底板、足外侧尼龙搭扣、足背尼龙搭扣和足后跟尼龙搭扣，L型鞋底板的竖直侧面与小腿外杆安装连接，足外侧尼龙搭扣固定在L型鞋底板的底面，足背尼龙搭扣一端与L型鞋底板的竖直侧面连接、另一端粘贴到足外侧尼龙搭扣上，足后跟尼龙搭扣一端与L型鞋底板的竖直侧面连接、另一端粘贴到足外侧尼龙搭扣上。
  10. 根据权利要求9所述的可测量人体下肢坐姿的可穿戴式外骨骼座椅装置，其特征在于，所述座椅机构包括弧形座椅、腰部绑带和座椅连接块，腰部绑带紧固在弧形座椅上，座椅连接块上部与弧形座椅活动连接使该座椅连接块朝向人体矢状面运动，该座椅连接块下部与大腿机构中的大腿上连接杆活动连接。
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