WO2020147138A1 - 一种具有下跃缓冲功能的下肢外骨骼系统 - Google Patents

一种具有下跃缓冲功能的下肢外骨骼系统 Download PDF

Info

Publication number
WO2020147138A1
WO2020147138A1 PCT/CN2019/072588 CN2019072588W WO2020147138A1 WO 2020147138 A1 WO2020147138 A1 WO 2020147138A1 CN 2019072588 W CN2019072588 W CN 2019072588W WO 2020147138 A1 WO2020147138 A1 WO 2020147138A1
Authority
WO
WIPO (PCT)
Prior art keywords
jump
thigh
frame
electromagnet
rod
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2019/072588
Other languages
English (en)
French (fr)
Inventor
王宏
唐浩
郗海龙
刘冲
李康
秦敬一
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Northeastern University China
Original Assignee
Northeastern University China
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Northeastern University China filed Critical Northeastern University China
Priority to US16/605,698 priority Critical patent/US11071675B2/en
Publication of WO2020147138A1 publication Critical patent/WO2020147138A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-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
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • 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
    • 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
    • A61H1/024—Knee
    • 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
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • 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
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
    • 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
    • A61H2201/01—Constructive details
    • A61H2201/0165—Damping, vibration related features
    • 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
    • A61H2201/01—Constructive details
    • A61H2201/0173—Means for preventing injuries
    • 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
    • A61H2201/01—Constructive details
    • A61H2201/0192—Specific means for adjusting dimensions
    • 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
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A61H2201/1215—Rotary 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
    • A61H2201/1628—Pelvis
    • A61H2201/163—Pelvis 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
    • A61H2201/5007—Control means thereof computer controlled
    • 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
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5069—Angle sensors
    • 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
    • A61H2201/5097—Control means thereof wireless
    • 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

Definitions

  • the invention belongs to the cross-technical field of mechatronic engineering and biomedical engineering, and specifically relates to a lower limb exoskeleton system with a down-jump buffer function.
  • the lower extremity exoskeleton is a wearable mechanical device composed of a metal frame, which can enhance the function of the lower limbs of the human body.
  • a wearable mechanical device composed of a metal frame, which can enhance the function of the lower limbs of the human body.
  • it can drive mechanical joints to perform actions based on human body behavior, helping the wearer to run faster and have a stronger weight bearing capacity.
  • elderly and disabled people wearing exoskeletons can help restore the walking ability of their legs, and even help disabled people who are paralyzed in bed stand and walk again.
  • this application proposes a lower limb exoskeleton system with a lower jump buffer function, that is, based on the instructions issued by the wearer during the lower jump, the exoskeleton system provides a buffer function against ground forces, so that the wearer’s lower limbs will not Injured.
  • the invention has a foot drop buffer structure where the exoskeleton is in contact with the ground, which meets the buffer requirement of a drop height of 1.5 meters.
  • a lower limb exoskeleton system with lower jump buffering function including back frame, hip joint motion mechanism, retractable thigh bar, knee joint motion mechanism, calf bar, foot jump buffer mechanism, waist abduction, upper legging frame and lower leggings
  • the protruding ends of the back frame are connected to one end of the retractable thigh bar through the hip joint movement mechanism, the other end of the retractable thigh bar is connected to one end of the calf bar through the knee joint movement mechanism, and the other end of the calf bar is lowered to buffer the foot
  • the mechanism is connected, the inner side of the horizontal part of the back frame is provided with a waist bandage, and the retractable thigh bar and the calf bar are respectively provided with an upper legging frame and a lower legging frame.
  • the hip joint movement mechanism is composed of an abduction and adduction movement part, a flexion and extension movement part and an upper thigh bar connecting frame.
  • One end of the abduction and adduction movement part is connected to the back frame by a bolt, and the other end of the abduction and adduction movement part passes through the first
  • the pin shaft is connected with one end of the flexion-extension moving part, the other end of the flexion-extension moving part is connected with one end of the upper thigh bar connecting frame through a second pin shaft, and the first pin shaft and the second pin shaft are arranged perpendicularly.
  • the retractable thigh bar is composed of an upper thigh bar and a lower thigh bar.
  • the upper end of the lower thigh bar is provided with three rows of threaded through holes and arranged in a row.
  • the upper end of the lower thigh bar is connected with the bottom end of the upper thigh bar through the threaded through holes and bolts ,
  • the top of the upper thigh bar is connected with the upper thigh bar connecting frame through threads
  • the outer circular surface of the upper thigh bar is connected with the upper legging frame through bolts
  • the bottom end ear plate of the lower thigh bar is provided with two through holes and arranged in a row .
  • the knee joint movement mechanism is composed of two lower thigh rod connecting frames, a knee joint rotating part, a harmonic reducer and a motor.
  • the two lower thigh rod connecting frames are connected to the bottom end of the lower thigh rod by bolts, one of the lower thigh rods
  • the connecting frame is respectively connected with the flexible wheel and the motor of the harmonic reducer.
  • the harmonic reducer is located on the inner side of the lower thigh bar connecting frame, and the motor is located on the outer side of the lower thigh bar connecting frame.
  • the harmonic generator of the harmonic reducer and the motor output The output steel wheel of the harmonic reducer is connected with the knee joint rotating part located between the two lower thigh connecting frames.
  • the bottom end of the knee joint rotating part is connected to the top of the calf rod by bolts.
  • the two lower thigh rod connecting frames are connected to The joint side of the knee joint moving part is provided with a fixed-angle notch boss.
  • the foot jump buffer mechanism is composed of an electromagnet, an electromagnet fixing frame, a traction rope, a clip, a rubber pad, a casing, a moving sleeve, a buffer spring, a return spring, and a control module.
  • the top of the casing is connected to the bottom of the calf through a bolt
  • the inner side of the housing is provided with a movable sleeve, and a buffer spring is provided in the movable sleeve.
  • the top of the buffer spring abuts on the inner limit plate of the housing.
  • the lower part of the housing is symmetrically provided with a clamp on the outer circular surface.
  • a return spring is arranged between the round surface of one end of the clip and the protrusion of the housing.
  • the end of the clip at the round surface is connected to one end of the traction rope, and the other end of the traction rope is connected to the electromagnet.
  • the electromagnet is fixed to the electromagnet by bolts.
  • the electromagnet fixing frame is fixed on the calf rod by bolts, the other end of the clip is connected with the bottom end of the moving sleeve, and the bottom end of the moving sleeve is connected with the rubber pad by the bolt, and the joint surface of the rubber pad and the moving sleeve Through rubber-metal bonding glue, the two ends of the rubber pad are symmetrically provided with grooves, and the control module is connected with the electromagnet.
  • the control module includes an upper computer, a wireless communication module, a control board and a relay.
  • the upper computer is connected to the control board through the wireless communication module, the control board is electrically connected to the relay, and the relay is electrically connected to the electromagnet.
  • a method for using a lower extremity exoskeleton system with a down-jump buffering function, adopting a lower-limb exoskeleton system with a down-jump buffering function includes the following steps:
  • Step 1 Wear the lower limb exoskeleton system of the present invention on the lower half of the human body, fix the back frame of the lower limb exoskeleton system of the present invention to the waist through a strap and waist bandage, and put the retractable thigh bar of the present invention through the upper legging frame And the bandage is fixed to the thigh, and the calf rod of the present invention is fixed to the calf through the lower legging frame and bandage;
  • Step 2 When walking on flat ground, the wearer controls the walking motion through the motor output torque in the knee joint motion mechanism, and converts the rotation of the motor shaft into the flexion and extension motion of the knee joint motion mechanism through a harmonic reducer, thereby driving the hip
  • the joint motion mechanism passively follows the movement of the wearer; when it needs to jump down, the host computer sends instructions to the control board through the wireless communication module I, the output pin of the control board controls the relay to be turned on, the electromagnet is energized, and the traction rope is pulled , Open the clamp, and the cushion spring compressed in the shell pushes the moving sleeve to the limit position under the action of elastic force; during the landing process, the rubber pad is in contact with the ground, and under the action of the ground support force, the moving sleeve will be moved Press into the shell, so that the buffer spring is compressed into the shell again; after completely landing, the host computer sends out instructions to control the control board, the output pin of the control board controls the relay to disconnect, the electromagnet is
  • This application proposes a lower limb exoskeleton system with a lower jump buffer function, that is, based on the instructions issued by the wearer during the lower jump, the exoskeleton system provides a buffer function against ground forces to ensure that the wearer’s lower limbs are not affected damage.
  • the present invention has a foot drop buffer structure where the exoskeleton contacts the ground.
  • the buffer energy absorption of the human body is Limited, to improve the protection of the human body is to reduce the energy that the human body needs to absorb in the buffering process.
  • the cushioning device is compressed during the landing process through the cushioning spring of the foot, and a part of the gravitational potential energy is transformed into the internal energy of the spring, which increases the energy absorption capacity of the exoskeleton, thereby reducing the energy absorbed by the human body, and ensuring that the human body falls to the ground. It is safe and satisfies the buffering demand of 1.5 meters in height.
  • Figure 1 is a schematic diagram of the front overall structure of the lower limb exoskeleton of the present invention
  • FIG. 2 is a schematic diagram of the front structure of the hip joint movement mechanism of the lower extremity exoskeleton of the present invention
  • FIG. 3 is a schematic diagram of the front structure of the retractable thigh bar of the lower extremity exoskeleton of the present invention.
  • FIG. 4 is a schematic diagram of the knee joint motion mechanism of the lower extremity exoskeleton of the present invention.
  • FIG. 5 is a schematic diagram of the structure of the foot jump buffer device of the lower extremity exoskeleton of the present invention.
  • Figure 6 is a partial control flow chart of the invented lower limb exoskeleton foot jump buffer device
  • Fig. 7 is a schematic diagram of virtual wearing of the lower extremity exoskeleton of the present invention.
  • a lower limb exoskeleton system with down-jump cushioning function includes a back frame 1, a hip joint movement mechanism 2, a retractable thigh bar 7, a knee joint movement mechanism 4, a calf bar 8, and a foot Lower jump buffer mechanism 5, waist abduction 6, upper legging frame 3 and lower legging frame 17, the protruding ends of the back frame 1 are connected to one end of the retractable thigh bar 7 through the hip joint movement mechanism 2, and the retractable thigh bar 7 The other end is connected to one end of the calf rod 8 through the knee joint motion mechanism 4, and the other end of the calf rod 8 is threadedly connected with the foot jump buffer mechanism 5.
  • the inner side of the horizontal part of the back frame 1 is provided with a waist abductor 6, the retractable thigh rod 7 and the calf bar 8 are respectively provided with an upper legging frame 3 and a lower legging frame 17.
  • the hip joint movement mechanism 2 is composed of an abduction and adduction movement part 9, a flexion and extension movement part 10 and an upper thigh bar connecting frame 11.
  • One end of the abduction and adduction movement part 9 is connected to the back frame 1 by a bolt, and the abduction and adduction movement
  • the other end of the piece 9 is connected to one end of the flexion-extension moving piece 10 through a first pin to realize the abduction and adduction movement of the exoskeleton lower extremity.
  • the other end of the flexion-extension moving piece 10 is connected to one end of the upper thigh bar connecting frame 11 through a second pin.
  • the rotation pair is formed to realize the flexion and extension movement of the hip joint movement mechanism 2.
  • the first pin shaft and the second pin shaft are arranged perpendicularly, and the hip joint movement mechanism 2 of the present invention has two degrees of freedom.
  • the retractable thigh rod 7 is composed of an upper thigh rod 12 and a lower thigh rod 13. Both the upper thigh rod 12 and the lower thigh rod 13 are made of aluminum tubes. The upper end of the lower thigh rod 13 is provided with three rows of threaded through holes, which are arranged in a row. The upper end of the lower thigh rod 13 is connected to the bottom end of the upper thigh rod 12 through threaded through holes and bolts to realize the stepwise adjustment of the length of the retractable thigh rod 7.
  • the top end of the upper thigh rod 12 is connected to the upper thigh rod connecting frame 11 through threads,
  • the middle part of the outer circular surface of the upper thigh bar 12 is connected with the upper legging frame 3 by bolts, and the bottom end ear plate of the lower thigh bar 13 is provided with two through holes, which are arranged in a row.
  • the knee joint motion mechanism 4 is composed of two lower thigh rod connecting frames 14, a knee joint rotating part 15, a harmonic reducer 16 and a motor 18.
  • the two lower thigh rod connecting frames 14 are connected to the bottom end of the lower thigh rod 13 through bolts.
  • One of the lower thigh rod connecting frames 14 is respectively connected to the flexspline of the harmonic reducer 16 and the motor 18.
  • the harmonic reducer 16 is located inside the lower thigh rod connecting frame 14, and the motor 18 is located on the lower thigh rod connecting frame 14.
  • the harmonic generator of the harmonic reducer 16 is connected to the output shaft of the motor 18, and the output steel wheel of the harmonic reducer 16 is connected to the knee joint rotating member 15 located between the two lower thigh connecting frames 14, and the knee joint rotates
  • the bottom end of the member 15 is connected to the top end of the calf rod 8 by bolts.
  • the connecting sides of the two lower thigh rod connecting frames 14 and the knee joint rotating part 15 are provided with fixed-angle notch bosses.
  • the motor 18 When the knee joint rotating part 15 rotates to the front and rear limit position It is used to limit the extreme motion position of the knee joint motion mechanism 4; the motor 18 is equipped with an angle sensor to prevent the flexion and extension motion of the knee joint motion mechanism 4 from going out of normal Range: When walking normally, the motor 18 outputs a certain torque to drive the exoskeleton to assist the movement of the human knee joint according to the characteristics of the human body's lower limb movement.
  • the foot jump buffer mechanism 5 is composed of an electromagnet 19, an electromagnet fixing frame 20, a traction rope 21, a clip 22, a rubber pad 23, a housing 24, a moving sleeve 25, a buffer spring 26 and a return spring 27.
  • the housing The top of 24 is connected with the bottom end of the calf rod 8 by bolts.
  • the inside of the shell 24 is provided with a movable sleeve 25.
  • the shell 24 is composed of two semicircular shells. The end surface of the semicircular shell is provided with protruding flanges.
  • the casing 24 is fixedly installed by protruding flanges and bolts.
  • the movable sleeve 25 is provided with a buffer spring 26, the bottom end of the inner wall of the casing 24 is provided with an inner limit block, and the top of the outer wall of the movable sleeve 25 is provided with an outer limit block.
  • the inner limit block of 24 and the outer limit block of the moving sleeve 25 are buckled with each other, and the moving sleeve 25 is placed away from the housing 24.
  • the top of the buffer spring 26 abuts on the inner limit plate of the housing 24.
  • a clip 22 is arranged symmetrically on the circular surface. The middle part of the clip 22 is hinged with the housing 24.
  • a return spring 27 is arranged between the upper circular surface of the clip 22 and the protrusion of the housing 24.
  • the return spring 27 is always in a compressed state and relies on the return spring when jumping down.
  • the elastic force of 27 pushes the clip 22 so that the lower end of the clip 22 presses the lower end surface of the moving sleeve 25.
  • the end of the clip 22 at the round surface is connected to one end of the traction rope 21, and the other end of the traction rope 21 is connected to the electromagnet 19, which is a push-pull Type frame DC electromagnet.
  • the electromagnet 19 is set on the electromagnet fixing frame 20 by bolts, and the electromagnet fixing frame 20 is fixed on the calf rod 8 by bolts.
  • the bent part of the lower end of the clamp 22 is connected with the bottom end of the moving sleeve 25 to restrict movement.
  • the position of the sleeve 25, and the bent portion of the lower end of the clip 22 and the main body of the clip 22 are 90 degrees, the bottom end of the movable sleeve 25 is connected to the rubber pad 23 by bolts, and the joint surface of the rubber pad 23 and the movable sleeve 25 Through rubber-metal bonding glue, the two ends of the rubber pad 23 are symmetrically provided with grooves 28, so that there is enough space for movement when the clip 22 is opened, and the control module is connected with the electromagnet 19.
  • the control module includes an upper computer, a wireless communication module, a control board, and a relay.
  • the upper computer is connected to the control board through the wireless communication module, the control board is electrically connected to the relay, and the relay is electrically connected to the electromagnet 19, and the control board It is mainly used to control the power-on and power-off of the push-pull frame DC electromagnet 19, and then to control the opening and closing of the clip 22.
  • the host computer is an ordinary notebook computer
  • the wireless communication module is the zigbee wireless communication module
  • the control board is the arduino mega2560 control board.
  • the relay is a telesky24V relay.
  • a method for using a lower extremity exoskeleton system with a down-jump buffering function, adopting a lower-limb exoskeleton system with a down-jump buffering function includes the following steps:
  • Step 1 Wear the lower limb exoskeleton system of the present invention on the lower half of the human body, fix the back frame 1 of the lower limb exoskeleton system of the present invention to the waist through a strap and waist abduction 6, and pass the retractable thigh bar 7 of the present invention through The upper legging frame 3 and the bandage are fixed to the thigh, and the calf rod 8 of the present invention is fixed to the calf through the lower legging frame 17 and the bandage;
  • Step 2 When walking on flat ground, the wearer controls the walking motion through the output torque of the motor 18 in the knee joint motion mechanism 4, and converts the rotation of the motor shaft into the flexion and extension motion of the knee joint motion mechanism 4 through the harmonic reducer 16 ,
  • the upper computer sends instructions to the control board through the remote wireless serial port module, and the output pin of the control board controls the relay to turn on, and the push-pull frame
  • the DC electromagnet 19 is energized, pulls the traction rope 21, opens the clamp 22, and the buffer spring 26 compressed in the housing 24 pushes out the movable sleeve 25 to the limit position under the action of elastic force; in the landing process, the rubber pad 23 In contact with the ground, under the action of the ground supporting force, the moving sleeve 25 is pressed into the housing 24, so that the buffer spring 26 is compressed into the housing 24 again; after it is completely landed, the host computer sends out instructions to control the control the control
  • the skeletal muscle and joint system of the human body has its own load-bearing limit, that is, the buffering capacity of the skeletal muscle and joint system is limited, and the energy that it can absorb in the buffering process has an extreme value, which is set as W 1max
  • W 1 ⁇ W 1max is required , that is, W 1 is reduced.
  • W 2 is increased to reduce the W 1.
  • the elastic energy-absorbing element in the foot jump buffer device adopts a spring, and its stiffness coefficient is set to K, the compression displacement of the spring during one jump is ⁇ x, and the energy absorbed by the spring during one compression is Ignoring the impact of the rest of the exoskeleton on energy, and both feet have down-jump buffer devices, there are:
  • the cushioning capacity of the exoskeleton can be adjusted by adjusting the stiffness of the spring in the down-jump cushioning mechanism to meet different usage requirements and achieve the cushioning and protection effect on the human body during the down-jumping process.

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Pain & Pain Management (AREA)
  • Rehabilitation Therapy (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Epidemiology (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Rehabilitation Tools (AREA)
  • Transplantation (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Cardiology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Vascular Medicine (AREA)
  • Orthopedic Medicine & Surgery (AREA)

Abstract

一种具有下跃缓冲功能的下肢外骨骼系统，包括背架（1）、髋关节运动机构（2）、可伸缩大腿杆（7）、膝关节运动机构（4）、小腿杆（8）、足部下跃缓冲机构（5）、腰部绑架（6）、上绑腿架（3）和下绑腿架（17），背架（1）两侧伸出端通过髋关节运动机构（2）与可伸缩大腿杆（7）一端相连，可伸缩大腿杆（7）另一端通过膝关节运动机构（4）与小腿杆（8）一端相连，小腿杆（8）另一端与足部下跃缓冲机构（5）相连，背架（1）水平部分内侧设置有腰部绑架（6），可伸缩大腿杆（7）和小腿杆（8）上分别设置有上绑腿架（3）和下绑腿架（17）。基于下跃过程穿戴者发出的指令，该具有下跃缓冲功能的下肢外骨骼系统给出抵抗地面作用力的缓冲功能，使得穿戴者在下跃落地时下肢不受损伤。

Description

一种具有下跃缓冲功能的下肢外骨骼系统 技术领域
本发明属于机械电子工程和生物医学工程的交叉技术领域，具体涉及一种具有下跃缓冲功能的下肢外骨骼系统。
背景技术
下肢外骨骼是一种由金属框架构成的、可穿戴的机器装置，它可增强人体的下肢功能。在军事上，它可根据人的肢体行为来驱动机械关节执行动作，帮助穿戴者跑得更快、负重能力更强。在医疗康复方面，穿戴外骨骼的老年人及残障人，可以辅助恢复其腿部的行走能力，甚至帮助瘫痪在床的残障人士重新站立行走。
目前，下肢外骨骼大多是协助穿戴者平地行走、奔跑、上楼梯。针对穿戴者下跃行为，需要外骨骼具有抵抗地面作用力的缓冲功能，而目前的外骨骼大都不具有这样的功能，不能保证穿戴者从高处下跃的下肢安全。对此，本申请提出具有下跃缓冲功能的下肢外骨骼系统，即基于下跃过程穿戴者发出的指令，外骨骼系统给出抵抗地面作用力的缓冲功能，使得穿戴者在下跃落地时下肢不受损伤。本发明在外骨骼与地面接触处具有足部下跃缓冲结构，满足下跃高度1.5米的缓冲需求。
发明内容
为了实现上述目的，本发明采用如下技术方案：
一种具有下跃缓冲功能的下肢外骨骼系统，包括背架、髋关节运动机构、可伸缩大腿杆、膝关节运动机构、小腿杆、足部下跃缓冲机构、腰部绑架、上绑腿架和下绑腿架，所述背架两侧伸出端通过髋关节运动机构与可伸缩大腿杆一端相连，可伸缩大腿杆另一端通过膝关节运动机构与小腿杆一端相连，小腿杆另一端与足部下跃缓冲机构相连，所述背架水平部分内侧设置有腰部绑架，所述可伸缩大腿杆和小腿杆上分别设置有上绑腿架和下绑腿架。
所述髋关节运动机构由外展内收运动件、屈伸运动件和上大腿杆连接架组成，外展内收运动件一端通过螺栓与背架相连，外展内收运动件另一端通过第一销轴与屈伸运动件一端相连，屈伸运动件另一端通过第二销轴与上大腿杆连接架一端相连，所述第一销轴与第二销轴垂直设置。
所述可伸缩大腿杆由上大腿杆和下大腿杆组成，下大腿杆上端开设有三排螺纹通孔，且呈一列排置，下大腿杆上端通过螺纹通孔和螺栓与上大腿杆底端相连，上大腿杆顶端通过螺纹与上大腿杆连接架相连，上大腿杆的外圆面通过螺栓连接有上绑腿架，下大腿杆底端耳板上设置有两个通孔，且呈一行排置。
所述膝关节运动机构由两个下大腿杆连接架、膝关节转动件、谐波减速器和电机组成，两个下大腿杆连接架通过螺栓与下大腿杆底端相连，其中一个下大腿杆连接架分别与谐波减速器的柔轮和电机相连，谐波减速器位于下大腿杆连接架的内侧，电机位于下大腿杆连接架的外侧，谐波减速器的谐波发生器与电机输出轴相连，谐波减速器的输出钢轮与位于两个下大腿连接架之间的膝关节转动件相连，膝关节转动件底端通过螺栓与小腿杆顶端相连，两个下大腿杆连接架与膝关节运动件的连接侧均设置有定角度缺口凸台。
所述足部下跃缓冲机构由电磁铁、电磁铁固定架、牵引绳、夹子、橡胶垫、外壳、移动套筒、缓冲弹簧、复位弹簧和控制模块组成，所述外壳顶部通过螺栓与小腿杆底端相连，所述外壳内侧设置有移动套筒，移动套筒内设置有缓冲弹簧，缓冲弹簧顶部抵在外壳内限位板上，所述外壳中下部外圆面对称设置有夹子，夹子中部与外壳铰接，夹子一端圆面处与外壳凸起之间设置有复位弹簧，夹子位于圆面处末端与牵引绳一端相连，牵引绳另一端与电磁铁相连，电磁铁通过螺栓设置于电磁铁固定架上，电磁铁固定架通过螺栓固定在小腿杆上，夹子另一端与移动套筒底端相连，所述移动套筒底端通过螺栓与橡胶垫相连，橡胶垫与移动套筒结合面之间通过橡胶金属粘合胶水粘接，所述橡胶垫两端对称开设有凹槽，所述控制模块与电磁铁相连。
所述控制模块包括上位机、无线通讯模块、控制板和继电器组成，所述上位机通过无线通讯模块与控制板连接，控制板与继电器电连接，所述继电器与电磁铁电连接。
一种具有下跃缓冲功能的下肢外骨骼系统的使用方法，采用一种具有下跃缓冲功能的下肢外骨骼系统，包括以下步骤：
步骤1，将本发明下肢外骨骼系统穿戴于人身体的下半部，将本发明下肢外骨骼系统的背架通过绑带和腰部绑架与腰部固定，将本发明可伸缩大腿杆通过上绑腿架和绷带与大腿部固定，将本发明小腿杆通过下绑腿架和绷带与小腿固定；
步骤2，当在平地行走时，穿戴者通过膝关节运动机构中的电机输出转矩控制行走动作，并通过谐波减速器将电机轴的转动转化成膝关节运动机构的屈伸运动，从而带动髋关节运动机构被动跟随穿戴者运动；当需要下跃运动时，上位机通过无线通讯模块Ⅰ将指令发送给控制板，控制板的输出管脚控制继电器接通，电磁铁通电接通，牵动牵引绳，打开夹子，被压缩在外壳中的缓冲弹簧在弹性力的作用下，推出移动套筒至极限位置；在落地过程中，橡胶垫与地面接触，在地面支撑力的作用下，将移动套筒压入外壳中，从而使缓冲弹簧再度被压缩至外壳中；完全落地后，上位机发出指令，控制控制板，控制板的输出管脚控制继电器断开，电磁铁失电断开，放松牵引绳，在复位弹簧的作用下，推动夹子夹紧移动套筒，使缓冲弹簧压缩在外壳内不弹出完成整个下跃缓冲动作。
本发明的有益效果为：
1、本申请提出具有下跃缓冲功能的下肢外骨骼系统，即基于下跃过程穿戴者发出的指令，外骨骼系统给出抵抗地面作用力的缓冲功能，保证穿戴者在下跃落地时下肢不受损伤。
2、本发明在外骨骼与地面接触处具有足部下跃缓冲结构，根据能量守恒原理，下跃落地过程中重力势能的改变量与人体和外骨骼系统缓冲吸收的能量相等，由于人体缓冲吸能是有限的，要提高对人体的保护，即是减少人体在缓冲过程中所需要吸收的能量。本缓冲装置通过足部的缓冲弹簧，在落地过程中被压缩，一部分重力势能转变为弹簧的内能，增大了外骨骼的吸能能力，从而减少人体吸收的能量，保障人体下跃落地的安全，且满足下跃高度1.5米的缓冲需求。
附图说明
图1为本发明下肢外骨骼的正面整体结构示意图；
图2为本发明下肢外骨骼髋关节运动机构的正面结构示意图；
图3为本发明下肢外骨骼的可伸缩大腿杆的正面结构示意图；
图4为本发明下肢外骨骼的膝关节运动机构结构示意图；
图5为本发明下肢外骨骼的足部下跃缓冲装置结构示意图；
图6为发明下肢外骨骼的足部下跃缓冲装置部分控制流程图；
图7为本发明下肢外骨骼的虚拟穿戴示意图。
1-背架，2-髋关节运动机构，3-上绑腿架，4-膝关节运动机构，5-足部下跃缓冲机构，6-腰部绑架，7-可伸缩大腿杆，8-小腿杆，9-外展内收运动件，10-屈伸运动件，11-上大腿杆连接架，12-上大腿杆，13-下大腿杆，14-下大腿杆连接架，15-膝关节转动件，16-谐波减速器，17-下绑腿架，18-电机，19-电磁铁，20-电磁铁固定架，21-牵引绳，22-夹子，23-橡胶垫，24-外壳，25-移动套筒，26-缓冲弹簧，27-复位弹簧，28-凹槽。
具体实施方式
下面结合附图和实施例对本发明作进一步的详细说明。
如图1-图7所示，一种具有下跃缓冲功能的下肢外骨骼系统，包括背架1、髋关节运动机构2、可伸缩大腿杆7、膝关节运动机构4、小腿杆8、足部下跃缓冲机构5、腰部绑架6、上绑腿架3和下绑腿架17，所述背架1两侧伸出端通过髋关节运动机构2与可伸缩大腿杆7一端相连，可伸缩大腿杆7另一端通过膝关节运动机构4与小腿杆8一端相连，小腿杆8另一端与足部下跃缓冲机构5螺纹连接，所述背架1水平部分内侧设置有腰部绑架6，所述可伸缩大腿杆7和小腿杆8上分别设置有上绑腿架3和下绑腿架17。
所述髋关节运动机构2由外展内收运动件9、屈伸运动件10和上大腿杆连接架11组成， 外展内收运动件9一端通过螺栓与背架1相连，外展内收运动件9另一端通过第一销轴与屈伸运动件10一端相连，实现外骨骼下肢的外展与内收运动，屈伸运动件10另一端通过第二销轴与上大腿杆连接架11一端相连，构成转动副，实现髋关节运动机构2的屈伸运动，所述第一销轴与第二销轴垂直设置，本发明髋关节运动机构2具有两个自由度。
所述可伸缩大腿杆7由上大腿杆12和下大腿杆13组成，上大腿杆12和下大腿杆13均采用铝管制作，下大腿杆13上端开设有三排螺纹通孔，且呈一列排置，下大腿杆13上端通过螺纹通孔和螺栓与上大腿杆12底端相连，实现可伸缩大腿杆7长度的有级调节，上大腿杆12顶端通过螺纹与上大腿杆连接架11相连，上大腿杆12的外圆面中部通过螺栓连接有上绑腿架3，下大腿杆13底端耳板上设置有两个通孔，且呈一行排置。
所述膝关节运动机构4由两个下大腿杆连接架14、膝关节转动件15、谐波减速器16和电机18组成，两个下大腿杆连接架14通过螺栓与下大腿杆13底端相连，其中一个下大腿杆连接架14分别与谐波减速器16的柔轮和电机18相连，谐波减速器16位于下大腿杆连接架14的内侧，电机18位于下大腿杆连接架14的外侧，谐波减速器16的谐波发生器与电机18输出轴相连，谐波减速器16的输出钢轮与位于两个下大腿连接架14之间的膝关节转动件15相连，膝关节转动件15底端通过螺栓与小腿杆8顶端相连，两个下大腿杆连接架14与膝关节转动件15的连接侧均设置有定角度缺口凸台，当膝关节转动件15转动到前后极限位置时与大腿杆连接架14上的定角度缺口凸台相接处，用于限制膝关节运动机构4的极限运动位置；电机18上装有角度传感器，从而防止膝关节运动机构4的屈伸运动脱离正常范围；当正常行走时，根据人体下肢运动规律特点，电机18输出一定转矩，驱动外骨骼助力人体膝关节运动。
所述足部下跃缓冲机构5由电磁铁19、电磁铁固定架20、牵引绳21、夹子22、橡胶垫23、外壳24、移动套筒25、缓冲弹簧26和复位弹簧27组成，所述外壳24顶部通过螺栓与小腿杆8底端相连，所述外壳24内侧设置有移动套筒25，所述外壳24由两个半圆壳组成，半圆壳的端面设置有伸出翼缘，两个半圆壳通过伸出翼缘和螺栓固定安装组成外壳24，移动套筒25内设置有缓冲弹簧26，外壳24内壁底端设置有内限位块，移动套筒25外壁顶端设置有外限位块，外壳24的内限位块和移动套筒25的外限位块相互扣合，放置移动套筒25脱离外壳24，缓冲弹簧26顶部抵在外壳24内限位板上，所述外壳24中下部外圆面对称设置有夹子22，夹子22中部与外壳24铰接，夹子22上端圆面处与外壳24凸起之间设置有复位弹簧27，复位弹簧27始终处于压缩状态，下跃时依靠复位弹簧27的弹力推动夹子22，使夹子22下端压紧移动套筒25下端面，夹子22位于圆面处末端与牵引绳21一端相连，牵引绳21另一端与电磁铁19相连，电磁铁19为推拉式框架直流电磁铁，电磁铁19通过螺栓设置于电磁铁固定架20上，电磁铁固定架20通过螺栓固定在小腿杆8上，夹子22下端弯折部 分与移动套筒25底端相连，限制移动套筒25的位置，且夹子22下端弯折部分与夹子22主体部分呈90度，所述移动套筒25底端通过螺栓与橡胶垫23相连，橡胶垫23与移动套筒25结合面之间通过橡胶金属粘合胶水粘接，所述橡胶垫23两端对称开设有凹槽28，使夹子22张开时有足够的活动空间，所述控制模块与电磁铁19相连。
所述控制模块包括上位机、无线通讯模块、控制板和继电器组成，所述上位机通过无线通讯模块与控制板连接，控制板与继电器电连接，所述继电器与电磁铁19电连接，控制板主要用于控制推拉式框架直流电磁铁19的通电与断电，进而控制夹子22的打开与关闭，上位机为普通的笔记本电脑，无线通讯模块为zigbee无线通讯模块，控制板为arduino mega2560控制板，继电器为telesky24V继电器。
一种具有下跃缓冲功能的下肢外骨骼系统的使用方法，采用一种具有下跃缓冲功能的下肢外骨骼系统，包括以下步骤：
步骤1，将本发明下肢外骨骼系统穿戴于人身体的下半部，将本发明下肢外骨骼系统的背架1通过绑带和腰部绑架6与腰部固定，将本发明可伸缩大腿杆7通过上绑腿架3和绷带与大腿部固定，将本发明小腿杆8通过下绑腿架17和绷带与小腿固定；
步骤2，当在平地行走时，穿戴者通过膝关节运动机构4中的电机18输出转矩控制行走动作，并通过谐波减速器16将电机轴的转动转化成膝关节运动机构4的屈伸运动，从而带动髋关节运动机构2被动跟随穿戴者运动；当需要下跃运动时，上位机通过远距离无线串口模块将指令发送给控制板，控制板的输出管脚控制继电器接通，推拉式框架直流电磁铁19通电接通，牵动牵引绳21，打开夹子22，被压缩在外壳24中的缓冲弹簧26在弹性力的作用下，推出移动套筒25至极限位置；在落地过程中，橡胶垫23与地面接触，在地面支撑力的作用下，将移动套筒25压入外壳24中，从而使缓冲弹簧26再度被压缩至外壳24中；完全落地后，上位机发出指令，控制控制板，控制板的输出管脚控制继电器断开，推拉式框架直流电磁铁19失电断开，放松牵引绳21，在复位弹簧27的作用下，推动夹子22夹紧移动套筒25，使缓冲弹簧26压缩在外壳24内不弹出完成整个下跃缓冲动作。
实施例1
对于普通人而言，如无特殊训练，从1.5米高度下跃时一般不易受伤，而当高度更高时，便有受伤风险，由于人体负重，这个临界高度亦会降低，因而本实例设定人体穿戴下肢外骨骼从高处1.5m处做初速度为0m/s的自由落体下跃，具有初始重力势能为W g。由于外骨骼及人体系统质量较大，忽略下落中的空气阻力的影响，在下跃至与地面接触，最终速度降为0m/s，人与外骨骼系统稳定停止运动的过程中，人体骨骼肌及关节自身缓冲吸收的能量为W 1，外骨骼下跃缓冲机构吸收的能量为W 2，根据能量守恒原理：
W g＝W 1+W 2
等价于:
W 1＝W g-W 2
由于人体的骨骼肌及关节系统具有其自身的承载极限，即骨骼肌及关节系统所能起到的缓冲能力有限，其在缓冲过程中所能吸收的能量具有一个极值，设定为W 1max，要保证人体下跃过程的安全性，需满足W 1＜＜W 1max，亦即减小W 1。而对于每一次下跃，人体与外骨骼系统在整个下跃过程中，不考虑其他能量损失，其具有的初始重力势能W g恒定不变。因而可通过增强外骨骼的缓冲能力，即增大W 2来减小W 1。本实例中，足部下跃缓冲装置中的弹性吸能元件采用弹簧，设定其劲度系数为K，一次下跃过程弹簧的压缩位移为Δx，一次压缩过程弹簧吸收的能量为
Figure PCTCN2019072588-appb-000001
忽略外骨骼其余部分对能量的影响，又双足均具有下跃缓冲装置，则有：
W 2＝2W 弹＝KΔx 2
因而结合上式，有：
W 1＝W g-KΔx 2
可知，本实例可以通过调节下跃缓冲机构中弹簧的刚度，从而调整外骨骼的缓冲能力，以满足不同的使用要求，达到对人体下跃过程的缓冲和保护作用。

Claims (7)

  1. 一种具有下跃缓冲功能的下肢外骨骼系统，其特征在于，包括背架、髋关节运动机构、可伸缩大腿杆、膝关节运动机构、小腿杆、足部下跃缓冲机构、腰部绑架、上绑腿架和下绑腿架，所述背架两侧伸出端通过髋关节运动机构与可伸缩大腿杆一端相连，可伸缩大腿杆另一端通过膝关节运动机构与小腿杆一端相连，小腿杆另一端与足部下跃缓冲机构相连，所述背架水平部分内侧设置有腰部绑架，所述可伸缩大腿杆和小腿杆上分别设置有上绑腿架和下绑腿架。
  2. 根据权利要求1所述的一种具有下跃缓冲功能的下肢外骨骼系统，其特征在于：所述髋关节运动机构由外展内收运动件、屈伸运动件和上大腿杆连接架组成，外展内收运动件一端通过螺栓与背架相连，外展内收运动件另一端通过第一销轴与屈伸运动件一端相连，屈伸运动件另一端通过第二销轴与上大腿杆连接架一端相连，所述第一销轴与第二销轴垂直设置。
  3. 根据权利要求1所述的一种具有下跃缓冲功能的下肢外骨骼系统，其特征在于：所述可伸缩大腿杆由上大腿杆和下大腿杆组成，下大腿杆上端开设有三排螺纹通孔，且呈一列排置，下大腿杆上端通过螺纹通孔和螺栓与上大腿杆底端相连，上大腿杆顶端通过螺纹与上大腿杆连接架相连，上大腿杆的外圆面通过螺栓连接有上绑腿架，下大腿杆底端耳板上设置有两个通孔，且呈一行排置。
  4. 根据权利要求1所述的一种具有下跃缓冲功能的下肢外骨骼系统，其特征在于：所述膝关节运动机构由两个下大腿杆连接架、膝关节转动件、谐波减速器和电机组成，两个下大腿杆连接架通过螺栓与下大腿杆底端相连，其中一个下大腿杆连接架分别与谐波减速器的柔轮和电机相连，谐波减速器位于下大腿杆连接架的内侧，电机位于下大腿杆连接架的外侧，谐波减速器的谐波发生器与电机输出轴相连，谐波减速器的输出钢轮与位于两个下大腿连接架之间的膝关节转动件相连，膝关节转动件底端通过螺栓与小腿杆顶端相连，两个下大腿杆连接架与膝关节运动件的连接侧均设置有定角度缺口凸台。
  5. 根据权利要求1所述的一种具有下跃缓冲功能的下肢外骨骼系统，其特征在于：所述足部下跃缓冲机构由电磁铁、电磁铁固定架、牵引绳、夹子、橡胶垫、外壳、移动套筒、缓冲弹簧、复位弹簧和控制模块组成，所述外壳顶部通过螺栓与小腿杆底端相连，所述外壳内侧设置有移动套筒，移动套筒内设置有缓冲弹簧，缓冲弹簧顶部抵在外壳内限位板上，所述外壳中下部外圆面对称设置有夹子，夹子中部与外壳铰接，夹子一端圆面处与外壳凸起之间设置有复位弹簧，夹子位于圆面处末端与牵引绳一端相连，牵引绳另一端与电磁铁相连，电磁铁通过螺栓设置于电磁铁固定架上，电磁铁固定架通过螺栓固定在小腿杆上，夹子另一端与移动套筒底端相连，所述移动套筒底端通过螺栓与橡胶垫相连，橡胶垫与移动套筒结合面之间通过橡胶金属粘合胶水粘接，所述橡胶垫两端对称开设有凹槽，所述控制模块与电磁铁 相连。
  6. 根据权利要求5所述的一种具有下跃缓冲功能的下肢外骨骼系统，其特征在于：所述控制模块包括上位机、无线通讯模块、控制板和继电器组成，所述上位机通过无线通讯模块与控制板连接，控制板与继电器电连接，所述继电器与电磁铁电连接。
  7. 一种具有下跃缓冲功能的下肢外骨骼系统的使用方法，采用权利要求6所述的一种具有下跃缓冲功能的下肢外骨骼系统，其特征在于，包括以下步骤：
    步骤1，将本发明下肢外骨骼系统穿戴于人身体的下半部，将本发明下肢外骨骼系统的背架通过绑带和腰部绑架与腰部固定，将本发明可伸缩大腿杆通过上绑腿架和绷带与大腿部固定，将本发明小腿杆通过下绑腿架和绷带与小腿固定；
    步骤2，当在平地行走时，穿戴者通过膝关节运动机构中的电机输出转矩控制行走动作，并通过谐波减速器将电机轴的转动转化成膝关节运动机构的屈伸运动，从而带动髋关节运动机构被动跟随穿戴者运动；当需要下跃运动时，上位机通过无线通讯模块Ⅰ将指令发送给控制板，控制板的输出管脚控制继电器接通，电磁铁通电接通，牵动牵引绳，打开夹子，被压缩在外壳中的缓冲弹簧在弹性力的作用下，推出移动套筒至极限位置；在落地过程中，橡胶垫与地面接触，在地面支撑力的作用下，将移动套筒压入外壳中，从而使缓冲弹簧再度被压缩至外壳中；完全落地后，上位机发出指令，控制控制板，控制板的输出管脚控制继电器断开，电磁铁失电断开，放松牵引绳，在复位弹簧的作用下，推动夹子夹紧移动套筒，使缓冲弹簧压缩在外壳内不弹出完成整个下跃缓冲动作。
PCT/CN2019/072588 2019-01-14 2019-01-22 一种具有下跃缓冲功能的下肢外骨骼系统 Ceased WO2020147138A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US16/605,698 US11071675B2 (en) 2019-01-14 2019-01-22 Lower limb exoskeleton system having jump-down cushioning function and method of using the same

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201910032241.7 2019-01-14
CN201910032241.7A CN109454632B (zh) 2019-01-14 2019-01-14 一种具有下跃缓冲功能的下肢外骨骼系统

Publications (1)

Publication Number Publication Date
WO2020147138A1 true WO2020147138A1 (zh) 2020-07-23

Family

ID=65616416

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/072588 Ceased WO2020147138A1 (zh) 2019-01-14 2019-01-22 一种具有下跃缓冲功能的下肢外骨骼系统

Country Status (3)

Country Link
US (1) US11071675B2 (zh)
CN (1) CN109454632B (zh)
WO (1) WO2020147138A1 (zh)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112603612A (zh) * 2020-12-25 2021-04-06 电子科技大学中山学院 仿生下肢
CN113133898A (zh) * 2021-04-26 2021-07-20 北京工业大学 一种含柔性关节的下肢康复外骨骼机构
CN113246179A (zh) * 2021-06-15 2021-08-13 军事科学院系统工程研究院军需工程技术研究所 用于重载下肢助力外骨骼的无源重力补偿髋关节及机器人
CN113910205A (zh) * 2021-12-14 2022-01-11 深圳市迈步机器人科技有限公司 一种下肢外骨骼助力系统
CN114800441A (zh) * 2022-03-19 2022-07-29 中国人民解放军空军军医大学 基于并联弹性体的下肢外骨骼异构膝关节
CN115139282A (zh) * 2021-03-30 2022-10-04 广州视源电子科技股份有限公司 仿生膝关节外骨骼结构和外骨骼机器人
CN115245446A (zh) * 2022-07-20 2022-10-28 合肥工业大学 一种具有刚度调节与能量回收功能的膝关节外骨骼及其训练方法
CN119745659A (zh) * 2025-03-07 2025-04-04 杭州智元研究院有限公司 一种具有膝关节变刚度可调的离合式仿肌助力装置

Families Citing this family (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110170985A (zh) * 2019-05-14 2019-08-27 北京铁甲钢拳科技有限公司 一种外骨骼系统
CN110296635A (zh) * 2019-07-29 2019-10-01 广州钛敌科装备科技发展有限责任公司 盾牌装置及盾牌背架
CN113002656B (zh) * 2019-12-20 2022-08-02 北京大艾机器人科技有限公司 长度可调的下肢结构和使用其的机器人下肢
CN111941395B (zh) * 2020-08-11 2022-07-19 北京机械设备研究所 一种基于三级缓冲机构的缓冲外骨骼
CN112060060B (zh) * 2020-09-22 2024-02-13 南京理工大学 一种主被动混合驱动的下肢助力外骨骼机器人及控制方法
CN112168611A (zh) * 2020-09-30 2021-01-05 天津大学 一种地表失重训练下肢主动外骨骼
CN112621729B (zh) * 2020-12-28 2024-09-20 华南理工大学 一种基于能量回收的膝关节助力装置
CN112999020B (zh) * 2021-02-19 2023-09-15 陕西捷赛达医疗设备有限公司 一种外骨骼机器人
CN112914955A (zh) * 2021-03-03 2021-06-08 上海冉擎机械设备有限公司 一种医疗外骨骼机器人
CN112975914A (zh) * 2021-03-16 2021-06-18 北京工业大学 一种足底控制式下肢储能助力机构
CN113370177B (zh) * 2021-05-17 2024-06-18 武汉理工大学 一种汽车前端模块装配的可穿戴式人机协作装配夹持器
CN113520786B (zh) * 2021-06-10 2022-09-13 唐山海容机器人应用技术研究院 一种穿戴式下肢外骨骼辅助行走机器人
CN113814962B (zh) * 2021-09-27 2022-12-13 国网江苏省电力有限公司扬州供电分公司 一种智能攀爬外骨骼系统
JP7472893B2 (ja) * 2021-11-12 2024-04-23 トヨタ自動車株式会社 部品締結構造、及び装着具
CN114310943B (zh) * 2021-12-23 2023-08-01 杭州太希智能科技有限公司 一种关节模组、抬腿状态自由弯曲的助力下肢外骨骼及全身外骨骼
CN114534172B (zh) * 2022-02-17 2022-09-27 华中科技大学 一种助力相位自动切换的被动负重支撑装置
CN114698974A (zh) * 2022-03-07 2022-07-05 覃俊欢 一种幼儿行走辅助装置
CN114712171B (zh) * 2022-04-06 2023-12-26 吉林农业大学 一种用于助残助行的穿戴式仿生腿足机构
US20230380763A1 (en) * 2022-05-05 2023-11-30 Tau Orthopedics, Inc. Physical therapy monitoring system
USD1010141S1 (en) * 2022-06-08 2024-01-02 Wandercraft Exoskeleton walking aid
CN115488861A (zh) * 2022-10-14 2022-12-20 塞伯睿机器人技术(南京)有限公司 一种无源下肢外骨骼
CN115582825B (zh) * 2022-12-12 2024-03-15 杭州智元研究院有限公司 一种无源下肢外骨骼
WO2025085465A1 (en) * 2023-10-17 2025-04-24 The Government Of The United States, As Represented By The Secretary Of The Army Exoskeleton device
CN119871342B (zh) * 2025-01-14 2025-08-19 无锡商业职业技术学院 一种智能外骨骼机器人

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090143869A1 (en) * 2007-11-29 2009-06-04 Chia-Pao Cheng Anti-shock artificial knee joint structure
CN105438306A (zh) * 2015-11-25 2016-03-30 北京航空航天大学 一种具有缓冲性能的仿生蝗虫跳跃机器人
CN105479438A (zh) * 2015-12-29 2016-04-13 哈尔滨工业大学 弹簧储能弹跳外骨骼
CN105904439A (zh) * 2016-05-19 2016-08-31 成都奥特为科技有限公司 一种感知步态且刚度自调整的柔性足部装置
CN105965483A (zh) * 2016-06-30 2016-09-28 西南交通大学 下肢助力外骨骼机器人
CN106005079A (zh) * 2016-05-24 2016-10-12 浙江大学 带主动脚踝关节与仿生足部的单腿机器人跳跃机构
CN106726363A (zh) * 2017-03-13 2017-05-31 东北大学 一种可穿戴仿生液压下肢康复助行机械装置
CN107049713A (zh) * 2017-03-13 2017-08-18 东北大学 可穿戴下肢康复助行机械装置

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2589360B1 (fr) * 1985-10-30 1987-12-24 Chareire Jean Louis Appareil d'assistance mecanique de la propulsion par les jambes
US6511512B2 (en) * 1998-04-10 2003-01-28 Ossur Hf Active shock module prosthesis
US20020094919A1 (en) * 2000-07-26 2002-07-18 Rennex Brain G. Energy-efficient running aid
DE102004016294B3 (de) * 2004-04-02 2005-08-25 Hurnik, Dieter, Dipl.-Ing. (FH) Pneumatisches Sprunggerät
US7278979B2 (en) * 2004-09-07 2007-10-09 Honda Motor Co., Ltd. Walking assistance device having a pelvis support member that is easy to wear
US20070123997A1 (en) * 2005-03-31 2007-05-31 Massachusetts Institute Of Technology Exoskeletons for running and walking
US9004201B2 (en) * 2012-04-18 2015-04-14 Board Of Trustees Of Michigan State University Jumping robot
JP3185908U (ja) * 2013-03-26 2013-09-12 泰治 志渡澤 歩行を補助するための杖
CN103932870B (zh) * 2014-05-04 2016-04-13 浙江大学 仿生设计下肢康复训练外骨骼
CN109070340A (zh) * 2016-04-15 2018-12-21 麦可尼股份有限公司 步行辅助装置
CN107696023A (zh) * 2017-10-12 2018-02-16 长沙展朔轩兴信息科技有限公司 膨胀肌肉驱动双柔性铰关节的弹跳机器人
CN107811819A (zh) * 2017-11-23 2018-03-20 航天科工智能机器人有限责任公司 一种可穿戴式下肢康复机器人
CN108272598A (zh) * 2017-12-17 2018-07-13 青岛万祥如光机械技术研究有限公司 一种站立支撑装置
US11141344B2 (en) * 2018-12-27 2021-10-12 Chin-Sung Yang Assistant apparatus for degenerative joint

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090143869A1 (en) * 2007-11-29 2009-06-04 Chia-Pao Cheng Anti-shock artificial knee joint structure
CN105438306A (zh) * 2015-11-25 2016-03-30 北京航空航天大学 一种具有缓冲性能的仿生蝗虫跳跃机器人
CN105479438A (zh) * 2015-12-29 2016-04-13 哈尔滨工业大学 弹簧储能弹跳外骨骼
CN105904439A (zh) * 2016-05-19 2016-08-31 成都奥特为科技有限公司 一种感知步态且刚度自调整的柔性足部装置
CN106005079A (zh) * 2016-05-24 2016-10-12 浙江大学 带主动脚踝关节与仿生足部的单腿机器人跳跃机构
CN105965483A (zh) * 2016-06-30 2016-09-28 西南交通大学 下肢助力外骨骼机器人
CN106726363A (zh) * 2017-03-13 2017-05-31 东北大学 一种可穿戴仿生液压下肢康复助行机械装置
CN107049713A (zh) * 2017-03-13 2017-08-18 东北大学 可穿戴下肢康复助行机械装置

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112603612A (zh) * 2020-12-25 2021-04-06 电子科技大学中山学院 仿生下肢
CN115139282A (zh) * 2021-03-30 2022-10-04 广州视源电子科技股份有限公司 仿生膝关节外骨骼结构和外骨骼机器人
CN113133898A (zh) * 2021-04-26 2021-07-20 北京工业大学 一种含柔性关节的下肢康复外骨骼机构
CN113133898B (zh) * 2021-04-26 2023-01-13 北京工业大学 一种含柔性关节的下肢康复外骨骼机构
CN113246179A (zh) * 2021-06-15 2021-08-13 军事科学院系统工程研究院军需工程技术研究所 用于重载下肢助力外骨骼的无源重力补偿髋关节及机器人
CN113910205A (zh) * 2021-12-14 2022-01-11 深圳市迈步机器人科技有限公司 一种下肢外骨骼助力系统
CN113910205B (zh) * 2021-12-14 2022-03-11 深圳市迈步机器人科技有限公司 一种下肢外骨骼助力系统
CN114800441A (zh) * 2022-03-19 2022-07-29 中国人民解放军空军军医大学 基于并联弹性体的下肢外骨骼异构膝关节
CN115245446A (zh) * 2022-07-20 2022-10-28 合肥工业大学 一种具有刚度调节与能量回收功能的膝关节外骨骼及其训练方法
CN119745659A (zh) * 2025-03-07 2025-04-04 杭州智元研究院有限公司 一种具有膝关节变刚度可调的离合式仿肌助力装置

Also Published As

Publication number Publication date
US20200281745A1 (en) 2020-09-10
CN109454632A (zh) 2019-03-12
CN109454632B (zh) 2020-07-21
US11071675B2 (en) 2021-07-27

Similar Documents

Publication Publication Date Title
CN109454632B (zh) 一种具有下跃缓冲功能的下肢外骨骼系统
CN104490568B (zh) 人体下肢外骨骼助行康复机器人
US8894592B2 (en) Device and method for decreasing oxygen consumption of a person during steady walking by use of a load-carrying exoskeleton
CN105662780B (zh) 一种下肢助力矫形器
CN203436523U (zh) 十自由度下肢助行装置
CN108095976A (zh) 一种具有被动回弹功能的仿生膝关节康复训练装置
CN111702747A (zh) 被动式负重助力下肢外骨骼
CN107174488B (zh) 一种用于脊髓损伤患者的足底轮式驱动自平衡动力外骨骼
CN103301007A (zh) 背负式徒步行走助力装置
CN206577092U (zh) 一种踝关节康复辅助装置
CN107714259A (zh) 一种智能穿戴式可双向锁死的护膝
CN113478466B (zh) 一种兼具负载传导及步行节能的无源下肢外骨骼
CN103349603A (zh) 十自由度下肢助行器
CN113580100A (zh) 一种被动式负重机动外骨骼
CN113681545B (zh) 膝关节负功捕捉外骨骼装置
CN107812358A (zh) 一种多关节抗阻力锻炼装置
CN111571572A (zh) 一种可穿戴助力柔性外骨骼
CN116673937A (zh) 一种整体式助力外骨骼装置及助力方法
CN114434421A (zh) 主被动结合的可穿戴下肢助力外骨骼装置
CN216731801U (zh) 主被动结合的可穿戴下肢助力外骨骼装置
CN117045470A (zh) 一种穿戴式下肢助行外骨骼机器人
CN111823218A (zh) 一种基于形状记忆合金的变刚度膝关节外骨骼机器人
CN214485015U (zh) 一种用于康复的穿戴式下肢外骨骼机器人
CN117064702B (zh) 一种可穿戴柔性下肢重力平衡外骨骼
CN115488859A (zh) 有源下肢型外骨骼

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19910530

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19910530

Country of ref document: EP

Kind code of ref document: A1