WO2019184589A1 - 外骨骼康复助力装置 - Google Patents

外骨骼康复助力装置 Download PDF

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Publication number
WO2019184589A1
WO2019184589A1 PCT/CN2019/073702 CN2019073702W WO2019184589A1 WO 2019184589 A1 WO2019184589 A1 WO 2019184589A1 CN 2019073702 W CN2019073702 W CN 2019073702W WO 2019184589 A1 WO2019184589 A1 WO 2019184589A1
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WO
WIPO (PCT)
Prior art keywords
shoulder
pneumatic muscle
plate
arm
waist
Prior art date
Application number
PCT/CN2019/073702
Other languages
English (en)
French (fr)
Inventor
薛帮灿
刘彦军
Original Assignee
京东方科技集团股份有限公司
北京京东方光电科技有限公司
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Application filed by 京东方科技集团股份有限公司, 北京京东方光电科技有限公司 filed Critical 京东方科技集团股份有限公司
Priority to EP19752410.1A priority Critical patent/EP3778138A4/en
Priority to JP2020536632A priority patent/JP7340522B2/ja
Priority to US16/488,730 priority patent/US11571352B2/en
Publication of WO2019184589A1 publication Critical patent/WO2019184589A1/zh

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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
    • A61H1/0218—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
    • A61H1/0237—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
    • 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
    • A61H1/0281—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
    • A61H1/0274—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
    • 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
    • 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
    • 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
    • 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

Definitions

  • Embodiments of the present disclosure relate to the field of bionic mechanical technology, and more particularly to an aerodynamic muscle driven exoskeleton rehabilitation assist device.
  • exoskeleton devices In modern society, it is necessary to develop a device for assisting exoskeleton devices.
  • the care workers carry the elderly or patients, they can provide limb support services to them. This can greatly reduce the physical labor intensity of the care workers and ensure the safety of both parties. It is easier and more efficient to work.
  • the exoskeleton booster can also help them complete self-service in their daily lives.
  • an exoskeleton device is also needed to help them complete their daily rehabilitation functions, so that they can quickly restore their body functions.
  • the exoskeleton rehabilitation assisting device is a typical human-machine integrated system that combines sensing, control, information acquisition, mobile computing and other technologies to enable it to perform certain functions and tasks under the control of the wearer.
  • 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, making the exoskeleton
  • the overall weight of the product is too large to meet the requirements of portability and flexibility, and it is expensive and cannot be widely used.
  • the purpose of the present disclosure is to provide an exoskeleton rehabilitation assisting device which has the advantages of simple structure, good safety, and high flexibility.
  • the present disclosure provides an exoskeleton rehabilitation assisting device, a back structure including a back beam, a length adjustable back support plate, and a shoulder pneumatic muscle member mounted on the back support plate; an arm structure; a shoulder a joint assembly, the arm structure being coupled to the upper end of the back structure by the shoulder joint assembly; and a waist structure; wherein an upper end of the back support plate is fixedly coupled to the back cross member, and a lower end is fixedly coupled to the waist structure, wherein
  • the shoulder joint assembly includes a curved shoulder joint plate, a shoulder traction wheel, a shoulder pull line, a first hinge mechanism, and a second hinge mechanism, one end of the shoulder joint plate being connected to the An upper end of the arm structure to form a flexion-extension rotation pair of the shoulder joint, the other end of the shoulder joint plate being coupled to the back beam by the second hinge mechanism to form an abduction-adduction rotation pair and a rotation of the shoulder joint
  • An inner-rotation outer pair of wheels, and the shoulder traction wheel is fixed to
  • the hip joint assembly includes a waist connecting plate fixedly coupled to the waist transverse plate, an articulated shaft, and fixed to a first guide wheel of the lumbar web, a second guide wheel secured to the thigh structure, and a waist pull line, wherein the hinge shaft connects the waist web to the thigh structure to form a hip joint a flexion-extension rotational pair, one end of the waist traction line extending through the second guide wheel and the first guide wheel and secured to the lumbar web and the other end coupled to the waist pneumatic muscle.
  • the thigh structure includes a thigh plate and a thigh guard, wherein a lumbar pneumatic muscle support is disposed on the thigh plate for mounting the waist pneumatic muscle member, the thigh guard A strap connection slot is provided for connecting the thigh strap.
  • each of the arm structures including an upper arm assembly, an elbow joint, an arm assembly, a wrist joint, and a hand assembly, wherein the upper arm assembly The upper end is coupled to the shoulder joint plate by the first hinge mechanism, the lower end of the upper arm assembly being coupled to the arm assembly by the elbow joint to form a flexion-extension pair of the elbow joint, and the arm assembly passes the wrist again
  • a joint member is coupled to the hand assembly to form a flexion-extension pair of the wrist joint.
  • each of the upper arm assemblies includes an outer upper arm plate, an inner upper arm plate, and an upper arm guard that fixedly connects them to each other, each of the arm assemblies including an outer arm plate and an inner arm a plate and an arm guard fixedly coupled to each other, the hand assembly including an inner support plate, a hand support for fixing the outer support plates to each other; wherein the outer upper arm plate and the inner upper arm plate a first elbow pneumatic muscle support is disposed on the outer arm plate and the inner arm plate, and a second elbow pneumatic muscle support and a first wrist pneumatic muscle support are disposed therein.
  • a second wrist pneumatic muscle support is arranged on the support plate and the outer support plate, and an elbow pneumatic muscle member is mounted on the first elbow pneumatic muscle support and the second elbow pneumatic muscle support to drive the elbow
  • the pivotal movement of the joint is mounted on the first wrist pneumatic muscle support and the second wrist pneumatic muscle support with a wrist pneumatic muscle member for driving the wrist joint to move.
  • the utility model further includes an upper arm guard belt, an arm guard belt and a hand belt, and an upper arm guard belt connecting groove is respectively formed on the outer upper arm plate and the inner upper arm plate for connecting the upper arm guard belt
  • An upper arm guard belt; an arm guard strap connecting groove is respectively formed on the outer arm plate and the inner arm plate for connecting the arm band; on the inner support plate and the outer support plate
  • a hand strap connection slot is respectively formed for connecting the hand strap, and a groove suitable for hanging a weight is respectively disposed on the inner bracket and the outer bracket.
  • the two ends of the back beam are respectively provided with a sliding slot
  • the second hinge mechanism includes an hinge shaft and a hinge seat
  • the hinge seat is configured to have a cylindrical shape at one end and a suitable end at the other end.
  • a groove portion of the shoulder joint plate wherein the two side walls of the groove portion are provided with an opening
  • the shoulder joint connecting plate is connected to the hinge seat through the engagement of the hinge shaft and the opening hole to form a shoulder joint
  • An abduction-adduction rotary pair the cylindrical end of the hinged seat is rotatably received in the chute and positioned by a positioning bolt to prevent linear movement of the hinged seat within the chute to form a shoulder joint Rotating the inner-rotating outer pair.
  • the exoskeleton rehabilitation assisting device is further provided with a shoulder traction wire guide for guiding the shoulder traction wire; and a lumbar traction wire bracket is disposed on the waist connecting plate Used to fix the waist traction line.
  • the back support plate comprises two support plates, each of the support plates having a first section and a second section that are relatively slidable so that the length of the support plate can be adjusted to adjust the waist position And positioning slots on the first section and the second section, wherein the first section and the second section can be fixed by the positioning slot and the locking screw .
  • the present disclosure also provides an exoskeleton rehabilitation assisting system, comprising a control system and the above exoskeleton rehabilitation assisting device, the control system comprising a gas source generator, a controller, a pneumatic pressure reducing valve, respectively connected to the shoulder pneumatic muscle parts, a pneumatic pneumatic member of the waist, a pneumatic muscle member of the elbow, and a solenoid valve group of the pneumatic muscle member of the wrist, and a driving circuit board disposed between the controller and the solenoid valve group, wherein the controller is used to control the pneumatic a pressure reducing valve decompresses gas from the gas source generator, a 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 from the controller Control instruction.
  • the control system comprising a gas source generator, a controller, a pneumatic pressure reducing valve, respectively connected to the shoulder pneumatic muscle parts, a pneumatic pneumatic member of the waist, a pneumatic muscle member of the elbow, and a sole
  • the present disclosure also provides a control method for the above exoskeleton rehabilitation power assisting device, comprising: controlling a pneumatic pressure reducing valve to decompress gas from a gas source generator by a controller; and controlling respectively to connect according to a control command from a controller a solenoid valve group to the shoulder pneumatic muscle member, the waist pneumatic muscle member, the elbow pneumatic muscle member, and the wrist pneumatic muscle member to pneumatically press the shoulder pneumatic muscle member, the waist pneumatic muscle member, and the elbow portion Inflation and deflation of the muscle members and the pneumatic muscle members of the wrist are controlled.
  • the exoskeleton rehabilitation assisting device has a total of 12 degrees of freedom, and both shoulder joints have three degrees of freedom of flexion-extension, abduction-adduction, and endo-rotation, and the elbow joint and the wrist joint each have 1 flexion-extension degree of freedom; the back structure can be slid up and down to adjust the waist position; the waist structure includes two hip joints of the same structure, each having a rotational degree of freedom, which can realize the exoskeleton rehabilitation power-assisted clothing to follow the wearer to bend over and Upright movement.
  • the invention has the advantages of simple structure, high power density ratio, good safety and strong flexibility, and can greatly improve the body machine capacity of the wearer when lifting heavy objects, and can be widely applied to rehabilitation medical treatment, family service, disaster relief and material handling. And other fields.
  • FIG. 1 is a schematic overall structural view of an exoskeleton rehabilitation assisting device according to an embodiment of the present disclosure
  • FIG. 2 is a schematic view showing the upper structure of the exoskeleton rehabilitation assisting device shown in FIG. 1;
  • FIG. 3 is a schematic view showing the back structure of the exoskeleton rehabilitation assisting device shown in FIG. 1;
  • Figure 4 is a schematic view showing the structure of the waist and the thigh of the exoskeleton rehabilitation assisting device shown in Figure 1;
  • Figure 5 is a schematic view showing the structure of the thigh of the exoskeleton rehabilitation assisting device shown in Figure 1;
  • FIG. 6 is a partial structural schematic view of the outer upper arm of the exoskeleton rehabilitation assisting device shown in FIG. 1;
  • FIG. 7a and 7b are schematic structural views of a back beam of the exoskeleton rehabilitation assisting device shown in FIG. 1;
  • Figure 8 is a schematic structural view of a hinge joint in a shoulder joint assembly of the present disclosure.
  • Figure 9 is a structural view of a shoulder traction wheel in a shoulder joint assembly of the present disclosure.
  • Figure 10 is a schematic view showing the structure of a pneumatic muscle
  • FIG. 11 is a schematic diagram of a pneumatic muscle control system for use with the present disclosure.
  • Fig. 10 is a schematic view showing the structure of the pneumatic muscle member used in the present disclosure.
  • the pneumatic muscle member is a new type of driver, the main body of which is a rubber tube D, and a woven mesh C of PET material is placed on the outer side of the rubber tube, and the two ends of the rubber tube D are respectively placed on the sealing at the two ends thereof.
  • the sealing F at one end is not provided with a vent hole, completely blocking the rubber tube to prevent air leakage, and the sealing E at the other end is provided with a vent hole for inflating and deflated the inside of the pneumatic muscle member, and then the rubber tube is taped.
  • the woven mesh C are wound 2-3 turns at the concave portions of the seals E and F at both ends, and the main purpose is to firmly bond the rubber tube and the woven mesh together in the concave portion of the closure.
  • the folded woven mesh extends to the position of the tail of the sealing, and the clamp B is tightly clamped to the recesses of the sealing E and F, thereby preventing the pneumatic muscles from leaking, and on the other hand preventing the internal high pressure state.
  • the pneumatic muscle parts collapse, and the design of the sealing E and F is very flexible. Different connection forms can be designed according to the connection mode.
  • the requirement for the rubber tube D is that it has certain toughness and elasticity, can expand and contract under inflation and deflation, and has good fatigue resistance.
  • the requirements for the woven mesh C are highly non-ductile.
  • the strength and toughness are excellent, but there is no tensile deformation.
  • the sealing E and F materials can be hard non-metallic materials with high density, or high strength and low density metal materials.
  • the clamp B can be used normally.
  • the stainless steel clamp parts can also be self-designed high-strength aluminum alloy parts.
  • Pneumatic muscle is a new type of driver that can imitate the contraction of biological muscles. Due to its high flexibility, light weight, convenient use, fast response, and low cost, it is widely used in various bionic machinery and other driving fields.
  • pneumatic muscles Compared with traditional rigid drives such as motors, hydraulic cylinders and pneumatic cylinders, pneumatic muscles have the advantages of high power/quality ratio, good flexibility and safety, light weight and flexibility, and are easy to take, easy to manufacture and low in cost. . Therefore, the pneumatic muscle-driven exoskeleton rehabilitation power-assisting device can achieve better lightness, flexibility, and safety under the premise of ensuring a large driving force, and can greatly reduce the cost and is easy to be widely used.
  • the pneumatic muscle member In the process of inflating the interior, the pneumatic muscle member will expand radially and contract axially, and use the axial driving force generated by its axial contraction to drive the external load. Moreover, as the internal pressure increases, the rigidity of the pneumatic muscle members increases, and as the internal pressure decreases, the rigidity decreases. According to the characteristics of pneumatic muscle parts, it can be used as a new type of linear actuator. Compared with traditional hydraulic cylinders, pneumatic cylinders, motors and other drives, it is very light in weight and can be combined with the shrinkage rate of pneumatic muscle parts according to the needs of driving stroke. The length of the pneumatic muscle parts is designed to avoid the danger caused by the overtravel, and the cost is very cheap. The most important thing is that the pneumatic muscle parts have good flexibility and safety and can be widely used in the field of rehabilitation.
  • the present disclosure will be mainly described below in conjunction with an exoskeleton rehabilitation assisting device of one embodiment of the present disclosure.
  • the exoskeleton rehabilitation assist device includes, for example, two arm structures 1, a back structure 2, a waist structure 3, and two identical thigh structures 4.
  • Each arm structure 1 is connected to the back structure 2 by a shoulder joint assembly and has an elbow joint and a wrist joint, wherein each arm portion has 5 degrees of freedom, and each shoulder joint assembly has a flexion-extension, abduction-adduction
  • the three degrees of freedom of the spin-in-spin, the elbow joint and the wrist joint respectively have one flex-extension degree of freedom.
  • each thigh 4 is connected to the waist 3 by a hip joint assembly, having one flex-extension degree of freedom. Therefore, the entire exoskeleton rehabilitation assist device has 12 degrees of freedom.
  • each arm structure 1 includes an upper arm assembly 11, an elbow joint 12, an arm assembly 13, a wrist joint 14 and a hand assembly 15.
  • the back structure 2 includes a back cross member 21 and two back support plates 22, and two first shoulder pneumatic muscle supports 211 are provided on the back cross member 21, and one end of each back support plate 22 is fixedly coupled to the back cross member 21, and A second shoulder pneumatic muscle support 220 is provided on one end.
  • Each shoulder support plate 22 is mounted with a shoulder pneumatic muscle member 5, one end of which is fixedly connected to the first shoulder pneumatic muscle support 211, and the other end is fixedly connected to the second shoulder pneumatic muscle support 220 for driving the shoulder joint pivot
  • a shoulder pneumatic muscle member 5 one end of which is fixedly connected to the first shoulder pneumatic muscle support 211, and the other end is fixedly connected to the second shoulder pneumatic muscle support 220 for driving the shoulder joint pivot
  • each of the back support plates 22 has a first section 221 and a second section 222 that are relatively slidable, for example, the first section is slidably received within the second section, and at the first The section 221 and the second section 222 are each provided with a positioning chute, and the first section and the second section can be locked by the cooperation of the positioning chute and the locking bolt to prevent them from sliding relative to each other.
  • the locking bolts can be released, thereby causing the first and second sections to slide relative to each other to adjust the length of the back support plate.
  • the back strap 21 is further provided with a strap connecting groove 212, a back supporting plate positioning hole 213, and a connecting chute. 214 and a positioning slot 215.
  • the strap attachment slot 212 is for attaching a back strap (not shown) for attachment to the wearer's back.
  • each upper arm assembly 11 includes an outer upper arm plate 111, an inner upper arm plate 112, and an upper arm guard 113 that fixedly connects them to each other, and an outer upper arm plate 111 and an inner upper arm.
  • An upper arm strap connection slot 114 is also defined in the panel 112 for attaching an upper arm strap (not shown) for attachment to the wearer's body arm.
  • a first elbow pneumatic muscle support 115 is disposed on the outer upper arm plate 111 and the inner upper arm plate 112.
  • each of the arm assemblies 13 includes an outer arm plate 131, an inner arm plate 132, and an arm guard 133 that fixedly connects them to each other, and is respectively small on the outer arm plate 131 and the inner arm plate 132.
  • the arm guard strap connection slot 134 is used to attach an arm guard strap (not shown) for attachment to the wearer's human arm.
  • a second elbow pneumatic muscle support 135 and a first wrist pneumatic muscle support 136 are disposed on the outer arm plate 131 and the inner arm plate 132.
  • each of the hand assemblies 15 includes an outer support plate 151, an inner support plate 152 for securely connecting the hand guards 153 to each other, and a hand strap connection groove is respectively formed on the outer support plate 151 and the inner support plate 152.
  • the 154 is used to attach a hand strap (not shown) for attachment to the wearer's wrist.
  • a second wrist pneumatic muscle support 155 and a groove 156 adapted to hang a weight are provided on the inner and outer support plates.
  • one end of the elbow pneumatic muscle member 6 is fixedly connected to the first elbow pneumatic muscle support 115, and the other end is fixedly connected to the second elbow pneumatic muscle support 135 for driving the elbow joint pivotal movement.
  • One end of the wrist pneumatic muscle member 7 is fixedly coupled to the first wrist pneumatic muscle support 136, and the other end is fixedly coupled to the second wrist pneumatic muscle support 155 for driving the wrist joint to move.
  • the shoulder joint assembly includes an arcuate shoulder link 8, a shoulder traction wheel 9, a shoulder pull line 10, a first hinge mechanism, and a second hinge mechanism.
  • the first hinge mechanism is an articulated shaft 81
  • the second hinge structure includes an hinge shaft 82 and a hinge seat 83 (see FIG. 8) rotatably received in the connecting groove 214 of the back cross member 12, the hinge seat being configured One end is cylindrical, and the other end has a groove portion 84 adapted to receive the shoulder joint plate 8.
  • the two side walls of the groove portion are provided with an opening 85, and one end of the shoulder connecting plate 8 passes through the hinge shaft 82.
  • the engagement with the opening 85 is pivotally coupled to the hinge mount 83 to form an abduction-adduction pivoting pair of shoulder joints, the other end of which is pivotally coupled to the upper arm assembly 11 by a hinge shaft 81
  • the outer upper arm plate 111 is formed to form a flexion-extension rotation pair of the shoulder joint.
  • the connecting chute 214 in the back cross member 21, and the width of the shoulder can be adjusted by moving the position of the hinge seat 83 left and right in the connecting chute as needed.
  • the engagement of the locking bolt with the positioning groove 215 allows the hinged seat 83 to be rotated and not linearly movable in the connecting chute 214, thereby fixing the width of the shoulder.
  • the hinged seat 83 can rotate in the connecting chute 214 and cannot move linearly along the connecting chute 214, the in-rotor-rotational rotating pair of the shoulder joint is formed.
  • the shoulder traction sheave 9 has a coupling shaft 90 integral therewith at the center, and a fixing hole 91 is provided on the outer circumferential surface of the shoulder traction sheave 9.
  • the shoulder traction sheave 9 is fixed to the outer upper arm plate by the connection shaft 90 engaging with the connection hole of the outer upper arm plate 111, wherein one end of the shoulder traction wire 10 is connected to the shoulder traction sheave 9 through the fixing hole 91, and the other end is connected. Pneumatic muscles to the shoulders 5.
  • a shoulder pull wire guide 101 is also provided to guide the shoulder pull line 10, and a portion of the shoulder pull line 10 can be wrapped around the shoulder traction wheel.
  • the shoulder traction line catheter 101 is similar to the sleeve of the bicycle brake line, and has both rigidity and flexibility to not only guide the well, but also to prevent the movement of the shoulder joint.
  • the shoulder pneumatic muscle member 5 When the human arm naturally hangs down, the shoulder pneumatic muscle member 5 is kept in a tension-free state.
  • the shoulder traction line 10 drives the shoulder traction wheel 9 to rotate, thereby driving the upper arm 11 to pivot. motion.
  • the waist structure 3 includes a waist transverse plate 31 and a waist pneumatic muscle member 32 fixedly coupled to the lower end of the back support plate 22.
  • the thigh structure 4 includes a thigh plate 41 and a thigh guard 42 in which a lumbar pneumatic muscle support 43 for mounting the lumbar pneumatic muscles 32 is provided on the thigh plate 41, and a strap connection groove 44 is formed on the thigh guard 42. Used to connect the thigh strap (not shown) to connect with the wearer's human thigh.
  • the hip joint assembly includes a lumbar web 38 fixedly coupled to the waist web 31, an articulated shaft 34, a first guide wheel 35 secured to the lumbar web 33, a second guide wheel 36 secured to the thigh structure 4, and a waist A pull wire 37, wherein the hinge shaft 34 pivotally connects the waist link 38 to the thigh plate 41 to form a flexion-extension pair of hip joints.
  • a waist traction wire fixing member 39 is further disposed on the waist connecting plate 38.
  • One end of the waist traction wire 37 extends through the second guiding wheel 36 and the first guiding wheel 35 and is fixed to the waist traction wire fixing member 39 of the waist connecting plate 38. The other end is connected to the waist pneumatic muscle 32.
  • the exoskeleton rehabilitation power-assisting suit can be performed following the wearer's bending and standing movements.
  • the waist pneumatic muscle 32 When the wearer's waist is upright, the waist pneumatic muscle 32 is contracted to the shortest position, the waist traction line 37 is pre-tightened, and when the wearer's waist is bent, the waist pneumatic muscle 32 is deflated, so that the hip joint is together with the human waist.
  • the exoskeleton rehabilitation assisting device of the present disclosure is designed according to the principle of bionics, and is a bilaterally symmetrical structure.
  • the right half is now taken as an example to illustrate the use of the exoskeleton rehabilitation assisting device. Pneumatic muscle control system.
  • the pneumatic muscle control system includes a gas source generator 1a, a controller 1b, a pneumatic pressure reducing valve 1c, a left half branch L, a right half branch R, and a drive circuit board 1e.
  • the air source generator 1a is connected to the left half branch L and the right half branch R via the pneumatic pressure reducing valve 1c, respectively, and the controller 1b is connected to the pneumatic pressure reducing valve 1c and the driving circuit board 1e, respectively, and the driving circuit board 1e is also Connected to the left half branch L and the right half branch R, respectively.
  • the right half branch includes the solenoid valve group 1d and is respectively connected to the solenoid valve group a shoulder pneumatic muscle member 5, a waist pneumatic muscle member 32, an elbow pneumatic muscle member 6 and a wrist pneumatic muscle member 7, wherein the driving circuit board 1e is disposed between the controller and the solenoid valve group, the controller being used for Controlling the pneumatic pressure reducing valve to depressurize gas from the gas source generator, the signal input end of the solenoid valve block is coupled to the drive circuit board, and the drive circuit board is configured to receive a pre-action from the controller Set the control commands.
  • the gas source generator 1a can generate a sufficient gas source, for example, stored in a gas cylinder, and the gas source generator can set the highest pressure value of the gas source, automatically start and stop, and supplement the gas source.
  • the gas source body comes out of the gas source generator, and the pneumatic pressure reducing valve 1c is used to control the maximum pressure of the pneumatic muscle member.
  • the gas pressure value of the gas source generator is higher than the working pressure value, so pneumatics are required.
  • the pressure reducing valve is subjected to pressure reduction treatment, and the decompressed gas is discharged into the electromagnetic valve group 1d, and the gas from the electromagnetic valve group is connected to the inflation joint on the corresponding pneumatic muscle member through the gas pipeline, and each pneumatic valve is inside the electromagnetic valve group.
  • the muscle member can be controlled by two two-position two-way solenoid valves to control the inflation, deflation, and maintenance of the pneumatic muscle members, or a three-position three-way solenoid valve to separately control the inflation of the pneumatic muscle members. Deflated and maintained in three states, the right half branch is divided into a wrist pneumatic muscle member 7, an elbow pneumatic muscle member 6, a shoulder pneumatic muscle member 5, and a waist pneumatic muscle member 32. For the wrist pneumatic muscle member 6, when the controller issues an inflation command, the intake port of the solenoid valve group corresponding to the branch of the pneumatic muscle member of the wrist is opened, and the gas enters the interior of the pneumatic muscle member through the gas pipe.
  • the controller issues a power-off command.
  • the branches corresponding to the pneumatic muscle members of the wrist valve group are all closed, and the gas inside the pneumatic muscle member is enclosed inside the pneumatic muscle member, keeping The original position is unchanged.
  • the controller releases the deflation command, the venting port corresponding to the solenoid valve group and the wrist pneumatic muscle member 7 is opened, the gas inside the wrist pneumatic muscle member 7 is released, and the pneumatic muscle member is restored to the initial state.
  • the pneumatic muscles of the elbows and the pneumatic muscles of the shoulders, as well as the pneumatic muscles of the waist work the same, and the principle of the left half is the same as that of the right half, and will not be repeated here.
  • the flexible shoulder strap is placed on the shoulder of the human body to realize the flexible connection between the back structure and the back of the wearer, and the upper arm assembly 11, the arm assembly 13 and the hand assembly 15 pass correspondingly.
  • the strap is flexibly connected to the wearer's arm and the human arm is placed in the exoskeleton rehabilitation assist device, and the thigh structure 4 is flexibly connected to the wearer's legs by the leg guard 42 and the thigh strap.
  • the joint rotates, the elbow pneumatic muscle member 6 drives the elbow joint to rotate, and the shoulder pneumatic muscle member 5 passes the shoulder traction line, bypasses the shoulder traction wheel, and drives the upper arm assembly 11 to rotate, and the arm guard is closely attached to the wearer.
  • the big arm guard is placed close to the wearer's arm, and the arm is moved upwards to complete the process of lifting the weight.
  • the pneumatic muscle parts are deflated by the exoskeleton.
  • the two arms assisted by the re-energizer move downward under the weight of the weight to complete the process of lowering the weight.
  • the working process changes the speed of the arm by adjusting the speed of inflation and deflation; when the wearer lifts the weight
  • the waist pneumatic muscle member 32 is deflated, so that the hip joint of the exoskeleton rehabilitation power-assising suit rotates with the bending of the human waist.
  • the waist pneumatic muscle member 32 is inflated, and the exoskeleton rehabilitation assisting device is driven.
  • the rotation of the hip joint further drives the back movement of the human body to realize the assisting function of the waist of the wearer; during the whole work, the focus of the exoskeleton rehabilitation power-assisting device is concentrated on the shoulders of the wearer and the legs of the wearer, so that The power of the human arm muscles and the waist muscles is transferred to the bones of the human body.
  • the present disclosure can not only assist the person with muscle damage or the elderly with weak muscle ability, but also help the patient with arm injury or waist injury to complete daily rehabilitation training, so that the body function can be quickly restored.

Abstract

一种外骨骼康复助力装置，包括：背部结构(2)，其包括背部横梁(21)、长度可调节的背部支承板(22)以及安装在背部支承板上的肩部气动肌肉件(5)；臂部结构(1)；肩关节组件，臂部结构(1)通过肩关节组件连接到背部结构(2)的上端；以及腰部结构(3)；背部支承板(22)的上端固定连接到背部横梁(21)，下端固定连接到腰部结构(3)，其中肩关节组件包括弧形的肩关节连接板(8)、肩部牵引轮、肩部牵引线(10)、第一铰接机构以及第二铰接机构，肩关节连接板(8)的一端通过第一铰接机构连接到臂部结构(1)的上端以形成肩关节的屈-伸转动副，肩关节连接板(8)的另一端通过第二铰接机构连接到背部横梁(21)以形成肩关节的外展-内收转动副和旋内-旋外转动副，并且肩部牵引轮(9)固定到臂部结构(1)的上端；肩部牵引线(10)一端连接到肩部牵引轮(9)，另一端连接到肩部气动肌肉件(5)。

Description

外骨骼康复助力装置
相关申请的交叉引用
本申请要求于2018年3月29日递交的中国专利申请第201810272761.0号的优先权，在此全文引用上述中国专利申请公开的内容以作为本申请的一部分。
技术领域
本公开的实施例涉及仿生机械技术领域，尤其涉及一种气动肌肉驱动的外骨骼康复助力装置。
背景技术
现代社会需要开发一种助力外骨骼装置，在护工搬运老年人或者患者时，能够对他们进行肢体助力服务，这样在保证双方安全的情况下，能够极大地减轻护工的体力劳动强度，使护工们可以比较轻松、有效地进行工作。对于肌肉机能退化的老年人，外骨骼助力装置也能帮助他们在日常的生活中完成自助服务。而对于有手臂损伤的病人，也需要一种外骨骼装置能够帮助自身完成日常的康复训练功能，使其快速的恢复身体机能。
外骨骼康复助力装置是一种融合了传感、控制、信息获取、移动计算等技术，能够使其在穿戴者的控制下完成一定的功能和任务的典型的人机一体化系统。现有的大多数外骨骼是采用传统的电机、液压缸、气压缸等进行驱动，这种传统的驱动方式具有造价成本高、功率/质量比小、漏油、柔顺性差等缺点，使得外骨骼产品整体重量大，无法满足轻便性、灵活性的要求，而且价格昂贵，无法得到广泛应用。
发明内容
本公开的目的是提供一种外骨骼康复助力装置，其具有结构简单、安全性好以及柔顺性强等优点。
为此，本公开提供一种外骨骼康复助力装置，背部结构，该背部结构包括背部横梁、长度可调节的背部支承板以及安装在背部支承板上的肩部气动肌肉件；臂部结构；肩关节组件，所述臂部结构通过该肩关节组件连接到该背部结构的上 端；以及腰部结构；其中，该背部支承板的上端固定连接到该背部横梁，下端固定连接到所述腰部结构，其中该肩关节组件包括弧形的肩关节连接板、肩部牵引轮、肩部牵引线、第一铰接机构以及第二铰接机构，该肩关节连接板的一端通过该第一铰接机构连接到所述臂部结构的上端以形成肩关节的屈-伸转动副，该肩关节连接板的另一端通过该第二铰接机构连接到所述背部横梁以形成肩关节的外展-内收转动副和旋内-旋外转动副，并且所述肩部牵引轮固定到所述臂部结构的上端；所述肩部牵引线一端连接到该肩部牵引轮，另一端连接到所述肩部气动肌肉件。
在本公开的一个实施例中，还包括两个大腿部结构和髋关节组件，所述两个大腿部结构分别通过该髋关节组件连接到该腰部结构；所述腰部结构包括固定连接到所述背部支承板的下端的腰部横板和安装在所述大腿部结构上的腰部气动肌肉件；所述髋关节组件包括固定连接到该腰部横板的腰部连接板、铰接轴、固定到该腰部连接板的第一导向轮、固定到大腿部结构上的第二导向轮以及腰部牵引线，其中所述铰接轴将该腰部连接板连接到该所述大腿部结构以形成髋关节的屈-伸转动副，所述腰部牵引线的一端延伸经过第二导向轮和第一导向轮并固定到所述腰部连接板，另一端连接到所述腰部气动肌肉。
在本公开的一个实施例中，所述大腿部结构包括大腿板和大腿护架，其中在该大腿板上设有腰部气动肌肉支架用于安装该腰部气动肌肉件，所述大腿护架上开设有护带连接槽，用于连接该大腿部护带。
在本公开的一个实施例中，包括两个所述臂部结构，每个所述臂部结构包括上臂组件、肘关节件、小臂组件、腕关节件以及手部组件，其中该上臂组件的上端通过该第一铰接机构连接到该肩关节连接板，该上臂组件的下端通过该肘关节件连接到该小臂组件形成肘关节的屈-伸转动副，而该小臂组件又通过该腕关节件连接到该手部组件形成腕关节的屈-伸转动副。
在本公开的一个实施例中，每个所述上臂组件包括外上臂板、内上臂板以及将它们彼此固定连接的上臂护架，每个所述小臂组件包括外小臂板、内小臂板以及将它们彼此固定连接的小臂护架，所述手部组件包括内支板、外支板将它们彼此固定连接的手部护架；其中在所述外上臂板和所述内上臂板上均设有第一肘部气动肌肉支架，在所述外小臂板和所述内小臂板上均设有第二肘部气动肌肉支架和第一腕部气动肌肉支架，在所述内支板和外支板上均设有第二腕部气动肌肉 支架，在该第一肘部气动肌肉支架和该第二肘部气动肌肉支架上安装有肘部气动肌肉件，用来带动该肘关节枢转运动，在该第一腕部气动肌肉支架和该第二腕部气动肌肉支架上安装有腕部气动肌肉件，用来带动该腕关节枢转运动。
在本公开的一个实施例中，还包括上臂护带、小臂护带以及手部护带，在所述外上臂板和所述内上臂板上分别开设有上臂护带连接槽用来连接该上臂护带；在所述外小臂板和所述内小臂板上分别开设有小臂护带连接槽用来连接该小臂护带；在所述内支板和所述外支板上分别开设有手部护带连接槽用来连接该手部护带，在所述内支板和所述外支板上还分别开设有适于悬挂重物的沟槽。
在本公开的一个实施例中，所述背部横梁的两端分别开设有滑槽，该第二铰接机构包括铰接轴和铰接座，该铰接座构造成一端为圆柱形，另一端为具有适合接纳该肩关节连接板的凹槽部，该凹槽部的两侧壁上设有开孔，该肩关节连接板通过该铰接轴与所述开孔的配合连接到该铰接座，形成肩关节的外展-内收转动副；该铰接座的圆柱形端部可旋转地容纳在该滑槽中并通过定位螺栓进行定位成阻止该铰接座在所述滑槽内线性移动，以形成肩关节的旋内-旋外转动副。
在本公开的一个实施例中，所述外骨骼康复助力装置还设有肩部牵引线导管，用于引导所述肩部牵引线；并且，在所述腰部连接板上设有腰部牵引线支架，用来固定所述腰部牵引线。
有利的是，所述背部支承板包括两个支承板，每个所述支承板具有能相对滑动的第一区段和第二区段，使得能调节所述支承板的长度，进而调节腰部位置；并且在所述第一区段和所述第二区段上均设有定位滑槽，所述第一区段和所述第二区段能通过所述定位滑槽与锁定螺钉配合来固定。
本公开还提供一种外骨骼康复助力系统，包括控制系统和上述外骨骼康复助力装置，所述控制系统包括气源发生器，控制器，气动减压阀，分别连接到肩部气动肌肉件、腰部气动肌肉件、肘部气动肌肉件以及腕部气动肌肉件的电磁阀组，以及设置在所述控制器和所述电磁阀组之间的驱动电路板，其中所述控制器用于控制该气动减压阀对来自该气源发生器的气体进行减压，所述电磁阀组的信号输入端连接至该驱动电路板，而该驱动电路板用来接收来自所述控制器的预先设置好的控制指令。
本公开还提供一种用于上述外骨骼康复助力装置的控制方法，包括：通过控制器控制气动减压阀对来自气源发生器的气体进行减压；基于来自控制器的控制 指令控制分别连接到肩部气动肌肉件、腰部气动肌肉件、肘部气动肌肉件以及腕部气动肌肉件的电磁阀组，以对所述肩部气动肌肉件、所述腰部气动肌肉件、所述肘部气动肌肉件以及所述腕部气动肌肉件的充气和放气进行控制。
根据本公开的外骨骼康复助力装置，共具有12个自由度，两肩关节均具有屈-伸、外展-内收、旋内-旋外的3个自由度，肘关节和腕关节各具有1个屈-伸自由度；背部结构可上下滑动来调节腰部位置；腰部结构包括两个结构相同的髋关节，均具有一个旋转自由度，可实现外骨骼康复助力服跟随穿戴者进行弯腰与直立运动。本公开具有结构简单、功率密度比高、安全性好、柔顺性强等优点，能够大幅提升穿戴者托举重物时的身体机能力量，可广泛应用于康复医疗、家庭服务、灾难救援以及物资搬运等领域。
附图说明
下面参照附图描述本公开的示例性实施例。
图1为根据本公开的一个实施例的外骨骼康复助力装置的整体结构示意图；
图2为图1所示的外骨骼康复助力装置的上部结构示意图；
图3为图1所示的外骨骼康复助力装置的背部结构示意图；
图4为图1所示的外骨骼康复助力装置的腰部结构和大腿部结构示意图；
图5为图1所示的外骨骼康复助力装置的大腿部结构示意图；
图6为图1所示的外骨骼康复助力装置的外上臂的局部结构示意图；
图7a和图7b为图1所示的外骨骼康复助力装置的背部横梁的结构示意图；
图8为本公开中的肩关节组件中的铰接座的结构示意图；
图9为本公开中的肩关节组件中的肩部牵引轮的结构意图；
图10为气动肌肉的结构示意图；
图11为用于本公开的气动肌肉控制系统的原理图。
具体实施方式
下面详细描述本公开的示例性实施例。下文描述的和附图示出的示例性实施例旨在教导本公开的原理，使本领域技术人员能够在若干不同环境中和对于若干不同应用实施和使用本公开。
在描述本公开之前先对气动肌肉件的技术原理进行阐述，图10示出了本公 开中所使用的气动肌肉件的结构示意图。气动肌肉件为一种新型驱动器，其主体为橡胶管D，在橡胶管的外侧套上一层PET材质的编织网C，橡胶管D的两端分别套在位于其两端处的封塞上，其中一端的封塞F未设置气孔，完全堵住橡胶管防止漏气，另一端的封塞E内部开有气孔，用于对气动肌肉件内部进行充气和放气，然后用胶带把橡胶管D和编织网C在两端封塞E、F的内凹部分缠绕2-3圈，主要目的是在封塞的内凹处把橡胶管和编织网紧紧地粘贴在一起。在两端的封塞的内凹的边缘处缠绕一圈铜丝A，防止编织网C在高压下脱开，再把编织网C翻折，铜丝布置在编织网C在端部的弯折处，翻折后的编织网延伸到封塞尾部的位置，用卡箍B紧紧的卡住封塞E、F内凹处，一方面防止气动肌肉件漏气，另一方面防止内部高压状态下，气动肌肉件崩开，封塞E、F的设计很灵活化，根据连接方式的需要，可以设计不同的连接形式。
对橡胶管D的要求是具有一定的韧性和弹性，能够在充气和放气的状态下膨胀和收缩，而且具有很好的抗疲劳特性，对编织网C的要求是具有很高的非延展性，强度和韧性极好，但是没有拉伸变形，封塞E、F材质可以是致密性很高的硬性非金属材料，也可以是强度高，密度小的金属材料，卡箍B可以是平时采用的不锈钢卡箍件，也可以是自行设计的强度较高的铝合金件。
气动肌肉是一种可以模仿生物肌肉收缩的新型驱动器，由于其柔性高、重量轻、使用方便、响应速度快、成本低廉等优点，被广泛地应用于各种仿生机械等驱动领域。
相较于传统的电机、液压缸、气压缸等刚性驱动器，气动肌肉具有高功率/质量比、良好的柔顺性和安全性、轻质、灵活等优点，并且取材方便、易于制作、成本较低。因此，以气动肌肉驱动外骨骼康复助力装置能在保证较大驱动力的前提下，实现其具有较好轻便性、柔顺性、安全性，还能大幅降低成本，易于广泛使用。
气动肌肉件在对内部充气的过程中，会径向膨胀，轴向收缩，利用其轴向收缩产生的轴向驱动力，驱动外接负载。而且气动肌肉件随着内部压力的增高，刚性不断变大，随着内部压力的降低，刚度不断减小。根据气动肌肉件的特性，可以作为一种新型的直线驱动器使用，相对传统的液压缸、气压缸、电机等驱动器，重量非常轻，而且可以根据驱动行程的需要，结合气动肌肉件自身的收缩率设计气动肌肉件的长度，这样可以避免超行程造成的危险，而且造价非常便宜，最重 要的是气动肌肉件具有很好的柔顺性，安全性，可以广泛使用在康复医疗领域。
下面将结合本公开的一个实施例的外骨骼康复助力装置来重点描述本公开。
如图1所示，在一个实施例中，外骨骼康复助力装置包括例如两个的臂部结构1、背部结构2、腰部结构3、以及两个相同的大腿部结构4。每个臂部结构1通过肩关节组件连接到背部结构2，并且具有肘关节和腕关节，其中每个臂部具有5个自由度，每个肩关节组件具有屈-伸、外展-内收、旋内-旋外的3个自由度，肘关节和腕关节分别具有1个屈-伸自由度。并且每个大腿部4通过髋关节组件连接到腰部3，具有1个屈-伸自由度。因此，整个外骨骼康复助力装置具有12个自由度。
图2和图3分别示出了上述实施例中的外骨骼康复助力装置的上部结构和背部结构示意图。从图中可以看出，每个臂部结构1包括上臂组件11、肘关节件12、小臂组件13、腕关节件14以及手部组件15。背部结构2包括背部横梁21和两个背部支承板22，在背部横梁21上设有两个第一肩部气动肌肉支架211，在每个背部支承板22的一端固定连接到背部横梁21，另一端上设有一个第二肩部气动肌肉支架220。每个背部支承板22上安装一个肩部气动肌肉件5，其一端固定连接到第一肩部气动肌肉支架211，另一端固定连接到第二肩部气动肌肉支架220，用于带动肩关节枢转运动。本领域技术人员应当理解，这里背部支承板和肩部气动肌肉件的数目仅仅是示例性的。根据需要，也可以设置其它合适的数目。
有利的是，背部支承板22的长度是可调节的，用来调节腰部结构的位置。更具体地参见图3，每个背部支承板22具有能相对滑动的第一区段221和第二区段222，例如第一区段可滑动地容纳在第二区段内，并且在第一区段221和第二区段222上均设有定位滑槽，第一区段和第二区段能通过定位滑槽与锁定螺栓的配合来锁定以防止它们相对滑动。当需要调节腰部位置时，可解除锁定螺栓，从而使得第一区段和第二区段相对滑动到需要的位置来调节背部支承板的长度。
图7a和图7b分别示出了从不同角度看的背部横梁的结构示意图，从图中可以看出，在背部横梁21上还开设有背带连接槽212、背部支撑板定位孔213、连接滑槽214以及定位槽215。该背带连接槽212用于连接背部护带(未示出)，以与穿戴者的背部相连接。
另外，更具体地参见图6，以左臂为例，每个上臂组件11包括外上臂板111、 内上臂板112以及将它们彼此固定连接的上臂护架113，并且在外上臂板111和内上臂板112上还分别开设有上臂护带连接槽114用来连接上臂护带(未示出)，以与穿戴者的人体大臂相连接。另外，在外上臂板111和内上臂板112上均设有第一肘部气动肌肉支架115。
并且，每个小臂组件13包括外小臂板131、内小臂板132以及将它们彼此固定连接的小臂护架133，并且在外小臂板131和内小臂板132上分别开设有小臂护带连接槽134用来连接小臂护带(未示出)，以与穿戴者的人体小臂相连接。另外，在外小臂板131和内小臂板132上均设有第二肘部气动肌肉支架135和第一腕部气动肌肉支架136。
此外，每个手部组件15包括外支板151、内支板152将它们彼此固定连接的手部护架153，并且在外支板151和内支板152上分别开设有手部护带连接槽154用来连接手部护带(未示出)，以与穿戴者的人体腕部相连接。另外，在内支板和外支板上均设有第二腕部气动肌肉支架155和适于悬挂重物的沟槽156。
在这里，肘部气动肌肉件6的一端固定连接到第一肘部气动肌肉支架115，另一端固定连接到第二肘部气动肌肉支架135，用来带动肘关节枢转运动。腕部气动肌肉件7的一端固定连接到第一腕部气动肌肉支架136，另一端固定连接到第二腕部气动肌肉支架155，用来带动腕关节枢转运动。
在该实施例中，肩关节组件包括弧形的肩部连接板8、肩部牵引轮9、肩部牵引线10、第一铰接机构以及第二铰接机构。在这里，第一铰接机构为铰接轴81，第二铰接结构包括铰接轴82以及可旋转地容纳在背部横梁12的连接滑槽214中的铰接座83(参见图8)，该铰接座构造成一端为圆柱形，另一端为具有适合接纳该肩关节连接板8的凹槽部84，该凹槽部的两侧壁上设有开孔85，该肩部连接板8的一端通过铰接轴82与开孔85的配合枢转地连接到该铰接座83，形成肩关节的外展-内收转动副，该肩部连接板8的另一端通过铰接轴81枢转地连接到上臂组件11的外上臂板111，以形成肩关节的屈-伸转动副。
另外，在背部横梁21中设置连接滑槽214是有利的，根据需要，可以通过在连接滑槽中左右移动铰接座83的位置来调整肩部的宽度。在需要固定铰接座的位置时，通过锁定螺栓与定位槽215的配合使得铰接座83可旋转而不可线性移动地定位在连接滑槽214中，从而固定肩部的宽度。并且，由于铰接座83能在连接滑槽214中旋转而不能沿该连接滑槽214线性移动，因此形成肩关节的旋 内-旋外转动副。
如图9所示，肩部牵引轮9在中心处具有与其成一体的连接轴90，并且肩部牵引轮9的外周面上设有固定孔91。肩部牵引轮9通过连接轴90与外上臂板111的连接孔配合而固定到该外上臂板，其中，肩部牵引线10一端通过固定孔91连接到该肩部牵引轮9，另一端连接到肩部气动肌肉5。有利的是，还设有肩部牵引线导管101对肩部牵引线10进行导向，肩部牵引线10可以有一部分缠绕到肩部牵引轮上。在该实施例中，肩部牵引线导管101与自行车刹车线的套管类似，既具有一定的刚度，又具有一定的柔性，不但能够很好地完成导向，而且不妨碍肩关节的运动。在人体手臂自然下垂时，使得肩部气动肌肉件5保持在无张力状态，当肩部气动肌肉件5充气收缩时，肩部牵引线10带动肩部牵引轮9转动，从而带动上臂11枢转运动。
如图4和图5所示，腰部结构3包括固定连接到背部支承板22的下端的腰部横板31和腰部气动肌肉件32。大腿部结构4包括大腿板41和大腿护架42，其中在大腿板41上设有用于安装腰部气动肌肉32的腰部气动肌肉支架43，并且在大腿护架42上开设有护带连接槽44，用于连接该大腿部护带(未示出)，以与穿戴者的人体大腿相连接。髋关节组件包括固定连接到腰部横板31的腰部连接板38、铰接轴34、固定到腰部连接板33的第一导向轮35、固定到大腿部结构4上的第二导向轮36以及腰部牵引线37，其中所述铰接轴34将该腰部连接板38枢转连接到大腿板41以形成髋关节的屈-伸转动副。在腰部连接板38上还设有腰部牵引线固定件39，腰部牵引线37的一端延伸经过第二导向轮36和第一导向轮35并固定到腰部连接板38的腰部牵引线固定件39，另一端连接到腰部气动肌肉32。
由于两个结构相同的髋关节均具有一个转动自由度，可实现外骨骼康复助力服跟随穿戴者进行弯腰与直立运动。当穿戴者腰部直立时，使得腰部气动肌肉32收缩到最短位置，对腰部牵引线37进行预紧安装，在穿戴者腰部弯曲时，对腰部气动肌肉32进行放气，使得髋关节与人体腰部一同转动，实现弯曲动作，在人体直立的过程中，对腰部气动肌肉32充气，带动髋关节转动，进而完成对人体腰部的助力功能。
如图1所示，本公开的外骨骼康复助力装置以仿生学的原理来设计，为左右对称的结构，为了方便起见，现在以右半部为例，来说明用于外骨骼康复助力装 置的气动肌肉控制系统。
如图11所示，气动肌肉控制系统包括气源发生器1a、控制器1b、气动减压阀1c、左半部支路L、右半部支路R，以及驱动电路板1e。气源发生器1a经气动减压阀1c分别连接到左半部支路L和右半部支路R，控制器1b分别连接到气动减压阀1c和驱动电路板1e，驱动电路板1e也分别连接到左半部支路L和右半部支路R。在这里，左半部支路和右半部支路的结构相同，在这里只对右半部支路进行描述，其中，右半部支路包括电磁阀组1d以及分别连接到该电磁阀组的肩部气动肌肉件5、腰部气动肌肉件32、肘部气动肌肉件6以及腕部气动肌肉件7的，其中驱动电路板1e设置在控制器和电磁阀组之间，所述控制器用于控制该气动减压阀对来自该气源发生器的气体进行减压，所述电磁阀组的信号输入端连接至该驱动电路板，而该驱动电路板用来接收来自所述控制器的预先设置好的控制指令。
气源发生器1a能产生足够的气源，例如存储在储气瓶内，气源发生器可以设置气源最高压力值，自动启停，补充气源。气源体从气源发生器出来，通过气动减压阀1c来控制进入气动肌肉件的最高气压，一般情况下，气源发生器出来的气体压力值都要高于工作压力值，所以需要气动减压阀进行减压处理，经过减压的气体出来进入电磁阀组1d，电磁阀组出来的气体通过气体管道连接到相应气动肌肉件上的充气接头上，在电磁阀组内部，每一个气动肌肉件可以由两个两位两通的子电磁阀配合控制气动肌肉件的充气、放气、保持三种状态，也可以是一个三位三通的子电磁阀单独控制气动肌肉件的充气、放气、保持三种状态，右半支路分为腕部气动肌肉件7，肘部气动肌肉件6、肩部气动肌肉件5、腰部气动肌肉件32。对于腕部气动肌肉件6来说，当控制器发出充气的指令后，电磁阀组对应腕部气动肌肉件的支路的进气口就会开启，气体就会通过气体管道进入气动肌肉件内部，当手腕到达指定弯曲角度值以后，控制器发出断电命令，此时电磁阀组与腕部气动肌肉件对应的支路全部关闭，气动肌肉件内部的气体被封闭在气动肌肉件内部，保持原位置不变，当控制器发生放气指令时，电磁阀组与腕部气动肌肉件7对应的放气口打开，腕部气动肌肉件7内部的气体放出，气动肌肉件恢复初始状态。肘部气动肌肉件和肩部气动肌肉件，以及腰部气动肌肉件的工作原理相同，并且，左半部分原理与右半部分相同，在这里不再赘述。
当穿戴者穿上根据本公开的外骨骼康复助力装置时，人体肩部背上柔性背带， 实现背部结构与穿戴者背部的柔性连接，上臂组件11、小臂组件13以及手部组件15通过相应的护带与穿戴者的手臂实现柔性连接，并且人体手臂放入外骨骼康复助力装置内，大腿部结构4通过腿部护架42和大腿部护带与穿戴者的两腿柔性连接在一起；当穿戴者托起重物时，给腕部气动肌肉件7、肘部气动肌肉件6、肩部气动肌肉件5充气，各个气动肌肉件充气收缩，其中腕部气动肌肉件7带动腕关节转动，肘部气动肌肉件6带动肘关节转动，肩部气动肌肉件5通过肩部牵引线，绕过肩部牵引轮，带动上臂组件11转动，此时小臂护架紧贴在穿戴者小臂上，大臂护架紧贴在穿戴者大臂上，带动手臂向上运动，完成托举重物的过程，当穿戴者需要放下重物时，各个气动肌肉件放气，由外骨骼康复助力装置助力的两臂在重物重力的作用下向下运动，完成放下重物的过程，工作过程通过调节充气和放气的速度来改变手臂运动速度；当穿戴者托起重物的过程中腰部弯曲时，腰部气动肌肉件32放气，使得外骨骼康复助力服的髋关节随人体腰部的弯曲而转动，当穿戴者腰部直立时，腰部气动肌肉件32充气，带动外骨骼康复助力装置的髋关节转动，进一步带动人体背部运动，实现对穿戴者腰部的助力功能；整个工作过程中，外骨骼康复助力装置的着力点集中在了穿戴者的两肩部和穿戴者的腿部，使得人体手臂肌肉和腰部肌肉承担的力量转化到了由人体的骨骼来承担。
本公开不仅可以对有肌肉损伤的人或者肌肉能力弱化的老年人完成助力服务，也可以帮助有手臂损伤或者腰部损伤的病人完成日常康复训练，使其快速恢复身体机能。
应当指出，上面的说明仅是示例性的，本领域技术人员可以根据上述说明对本公开实施例做出各种修改和变型，这些修改和变型均在本公开的保护范围之内。

Claims (11)

  1. 一种外骨骼康复助力装置，包括：
    背部结构，该背部结构包括背部横梁、长度可调节的背部支承板以及安装在背部支承板上的肩部气动肌肉件；
    臂部结构；
    肩关节组件，所述臂部结构通过该肩关节组件连接到该背部结构的上端；以及
    腰部结构；
    其中，该背部支承板的上端固定连接到该背部横梁，下端固定连接到所述腰部结构，其中该肩关节组件包括弧形的肩关节连接板、肩部牵引轮、肩部牵引线、第一铰接机构以及第二铰接机构，该肩关节连接板的一端通过该第一铰接机构连接到所述臂部结构的上端以形成肩关节的屈-伸转动副，该肩关节连接板的另一端通过该第二铰接机构连接到所述背部横梁以形成肩关节的外展-内收转动副和旋内-旋外转动副，并且所述肩部牵引轮固定到所述臂部结构的上端；所述肩部牵引线一端连接到该肩部牵引轮，另一端连接到所述肩部气动肌肉件。
  2. 根据权利要求1所述的外骨骼康复助力装置，其中，
    还包括两个大腿部结构和髋关节组件，所述两个大腿部结构分别通过该髋关节组件连接到该腰部结构；
    所述腰部结构包括固定连接到所述背部支承板的下端的腰部横板和安装在所述大腿部结构上的腰部气动肌肉件；
    所述髋关节组件包括固定连接到该腰部横板的腰部连接板、铰接轴、固定到该腰部连接板的第一导向轮、固定到大腿部结构上的第二导向轮以及腰部牵引线，其中所述铰接轴将该腰部连接板连接到该所述大腿部结构以形成髋关节的屈-伸转动副，所述腰部牵引线的一端延伸经过第二导向轮和第一导向轮并固定到所述腰部连接板，另一端连接到所述腰部气动肌肉。
  3. 根据权利要求2所述的外骨骼康复助力装置，其中，所述大腿部结构包括大腿板和大腿护架，其中在该大腿板上设有腰部气动肌肉支架用于安装该腰部气动肌肉件，所述大腿护架上开设有护带连接槽，用于连接该大腿部护带。
  4. 根据权利要求1所述的外骨骼康复助力装置，其中，包括两个所述臂部结构，每个所述臂部结构包括上臂组件、肘关节件、小臂组件、腕关节件以及手 部组件，其中该上臂组件的上端通过该第一铰接机构连接到该肩关节连接板，该上臂组件的下端通过该肘关节件连接到该小臂组件形成肘关节的屈-伸转动副，而该小臂组件又通过该腕关节件连接到该手部组件形成腕关节的屈-伸转动副。
  5. 根据权利要求4所述的外骨骼康复助力装置，其中，每个所述上臂组件包括外上臂板、内上臂板以及将它们彼此固定连接的上臂护架，每个所述小臂组件包括外小臂板、内小臂板以及将它们彼此固定连接的小臂护架，所述手部组件包括内支板、外支板将它们彼此固定连接的手部护架；其中在所述外上臂板和所述内上臂板上均设有第一肘部气动肌肉支架，在所述外小臂板和所述内小臂板上均设有第二肘部气动肌肉支架和第一腕部气动肌肉支架，在所述内支板和外支板上均设有第二腕部气动肌肉支架，在该第一肘部气动肌肉支架和该第二肘部气动肌肉支架上安装有肘部气动肌肉件，用来带动该肘关节枢转运动，在该第一腕部气动肌肉支架和该第二腕部气动肌肉支架上安装有腕部气动肌肉件，用来带动该腕关节枢转运动。
  6. 根据权利要求5所述的外骨骼康复助力装置，其中，还包括上臂护带、小臂护带以及手部护带，在所述外上臂板和所述内上臂板上分别开设有上臂护带连接槽用来连接该上臂护带；在所述外小臂板和所述内小臂板上分别开设有小臂护带连接槽用来连接该小臂护带；在所述内支板和所述外支板上分别开设有手部护带连接槽用来连接该手部护带，在所述内支板和所述外支板上还分别开设有适于悬挂重物的沟槽。
  7. 根据权利要求1至6中任一项所述的外骨骼康复助力装置，其中，所述背部横梁的两端分别开设有滑槽，该第二铰接机构包括铰接轴和铰接座，该铰接座构造成一端为圆柱形，另一端为具有适合接纳该肩关节连接板的凹槽部，该凹槽部的两侧壁上设有开孔，该肩关节连接板通过该铰接轴与所述开孔的配合连接到该铰接座，形成肩关节的外展-内收转动副；该铰接座的圆柱形端部可旋转地容纳在该滑槽中并通过定位螺栓进行定位成阻止该铰接座在所述滑槽内线性移动，以形成肩关节的旋内-旋外转动副。
  8. 根据权利要求7所述的外骨骼康复助力装置，其中，还设有肩部牵引线导管，用于引导所述肩部牵引线；并且，在所述腰部连接板上设有腰部牵引线固定件，用来固定所述腰部牵引线。
  9. 根据权利要求1所述的外骨骼康复助力装置，其中，所述背部支承板包 括两个支承板，每个所述支承板具有能相对滑动的第一区段和第二区段，使得能调节所述支承板的长度，进而调节腰部位置；并且在所述第一区段和所述第二区段上均设有定位滑槽，所述第一区段和所述第二区段能通过所述定位滑槽与锁定螺钉配合来固定。
  10. 一种外骨骼康复助力系统，包括控制系统和根据权利要求1至9中任一项所述的外骨骼康复助力装置，所述控制系统包括气源发生器，控制器，气动减压阀，分别连接到肩部气动肌肉件、腰部气动肌肉件、肘部气动肌肉件以及腕部气动肌肉件的电磁阀组，以及设置在所述控制器和所述电磁阀组之间的驱动电路板，其中所述控制器用于控制该气动减压阀对来自该气源发生器的气体进行减压，所述电磁阀组的信号输入端连接至该驱动电路板，而该驱动电路板用来接收来自所述控制器的预先设置好的控制指令。
  11. 一种用于根据权利要求1至9中任一项所述的外骨骼康复助力装置的控制方法，包括：
    通过控制器控制气动减压阀对来自气源发生器的气体进行减压；
    基于来自控制器的控制指令控制分别连接到肩部气动肌肉件、腰部气动肌肉件、肘部气动肌肉件以及腕部气动肌肉件的电磁阀组，以对所述肩部气动肌肉件、所述腰部气动肌肉件、所述肘部气动肌肉件以及所述腕部气动肌肉件的充气和放气进行控制。
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