WO2022056754A1 - 柔性下肢外骨骼及其控制方法 - Google Patents

柔性下肢外骨骼及其控制方法 Download PDF

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Publication number
WO2022056754A1
WO2022056754A1 PCT/CN2020/115723 CN2020115723W WO2022056754A1 WO 2022056754 A1 WO2022056754 A1 WO 2022056754A1 CN 2020115723 W CN2020115723 W CN 2020115723W WO 2022056754 A1 WO2022056754 A1 WO 2022056754A1
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WIPO (PCT)
Prior art keywords
energy storage
elastic energy
storage element
wearing
clutch device
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PCT/CN2020/115723
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English (en)
French (fr)
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赵国如
王永奉
宁运琨
郑凯
刘利利
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Shenzhen Institute of Advanced Technology of CAS
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Shenzhen Institute of Advanced Technology of CAS
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Priority to PCT/CN2020/115723 priority Critical patent/WO2022056754A1/zh
Publication of WO2022056754A1 publication Critical patent/WO2022056754A1/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
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about

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  • the present application belongs to the technical field of lower extremity rehabilitation, and in particular relates to a flexible lower extremity exoskeleton and a control method thereof.
  • the unpowered lower extremity exoskeleton uses gait energy as the energy source to realize low metabolic energy consumption, high self-adaptation and continuous and stable walking of the human body. It can be used in the fields of rehabilitation medicine, sports training and medical equipment.
  • the devices included in the traditional unpowered lower limb exoskeleton mainly rely on elastic links spanning the hip and ankle joints to absorb the mechanical energy during the movement process to provide assistance for the normal walking of the human body.
  • the present application provides a flexible lower limb exoskeleton and a control method thereof, so as to improve the utilization efficiency of gait energy and reduce the metabolic energy consumption during human walking.
  • a flexible lower extremity exoskeleton comprising:
  • Wearing components including a waist wearing part, a knee joint wearing part and a sole wearing part, the waist wearing part is used for wearing on the waist, the knee joint wearing part is used for wearing on the knee joint, and the sole wearing part is used for wearing on the sole of the foot;
  • the elastic energy storage assembly includes a first elastic energy storage element and a second elastic energy storage element, two ends of the first elastic energy storage element are respectively connected to the shoe sole wearing part and the knee joint wearing part, the second elastic energy storage element Two ends of the elastic energy storage element are respectively connected to the knee joint wearing part and the waist wearing part; and
  • a clutch device comprising a first clutch device and a second clutch device, the first clutch device is mounted on the knee joint wearer, the first clutch device can selectively lock or release the first elastic energy storage
  • the second clutch device is mounted on the waist wearing part, and the second clutch device can selectively lock or release the second elastic energy storage element.
  • both the first elastic energy storage element and the second elastic energy storage element are provided with barbs
  • both the first clutch device and the second clutch device include A swing bar and a swing assembly, the swing assembly is mounted on the corresponding wearing part, the swing assembly is connected with the swing bar to drive the swing bar to swing, so that the swing bar is engaged with or separated from the barb .
  • the technical solution adopted in the embodiment of the present application further includes: the swing assembly includes a mounting frame, a power source, a transmission belt and a gear, the power source is mounted on the mounting frame, and the gear is rotatably arranged on the wearing part On the upper side, the power source drives the gear to reciprocate through the transmission belt, and the swing rod is connected with the gear.
  • the technical solution adopted in the embodiment of the present application further includes: the transmission belt includes a steel wire rope and a gear belt, one end of the steel wire rope is connected with the output end of the power source, and the other end of the steel wire is slidably connected with the mounting frame,
  • the gear belt is connected between the steel wire ropes, the gear belt meshes with the gears, and the power source drives the steel wire ropes to move back and forth, so that the gear belt drives the gears to rotate back and forth.
  • the technical solution adopted in the embodiment of the present application further includes: a baffle plate is provided on the mounting frame, and the baffle plate can abut with the swing rod, so as to maintain the engagement between the swing rod and the barb.
  • the technical solutions adopted in the embodiments of the present application further include: a first adjustment mechanism is provided on the knee joint wearing member, and the first adjustment mechanism is used to adjust the initial length of the first elastic energy storage element; and/or
  • the waist wearing part is provided with a second adjusting mechanism, and the second adjusting mechanism is used for adjusting the starting length of the second elastic energy storage element.
  • the technical solution adopted in the embodiment of the present application further includes: further comprising an information collection module, the information collection module includes a pressure sensor, a joint angle sensor and an electromyographic sensor, the pressure sensor is arranged in the sole wearing part, and the joint The angle sensor is used to be arranged at the joints of the lower limbs, and the electromyographic sensor is used to be installed on the muscles of the lower limbs.
  • the technical solution adopted in the embodiment of the present application further includes: the information collection module further includes a first tension sensor and a second tension sensor, and the first tension sensor is installed on the first elastic energy storage element and the knee joint wearing The second tension sensor is installed at the connection between the second elastic energy storage element and the waist wearing part.
  • control method for a flexible lower limb exoskeleton according to any one of the above, the control method comprising the following steps:
  • the first clutch device locks the first elastic energy storage element, the first elastic energy storage element is stretched, and stores gait energy
  • the first clutch device Determine whether the heel is off the ground, if the heel is off the ground, the first clutch device will release the first elastic energy storage element, the first elastic energy storage element retracts, releasing gait energy for muscle strength compensate;
  • the second clutch device locks the second elastic energy storage element, the second elastic energy storage element is stretched, and stores gait energy
  • the second clutch device Determine whether the toe is off the ground, if the toe is off the ground, the second clutch device will release the second elastic energy storage element, the second elastic energy storage element retracts, releasing gait energy for muscle strength compensate.
  • control method further includes the following steps:
  • the beneficial effects of the embodiments of the present application are: the above-mentioned flexible lower limb exoskeleton and its control method store gait energy by means of elastic energy storage elements, use a clutch device to release energy at an appropriate time, and assist muscles. Assist along the muscle strength compensation path to improve the utilization efficiency of gait energy and reduce the metabolic energy consumption of the human body during walking.
  • the energy stored by the first elastic energy storage element is used to assist the ankle joint
  • the energy stored by the second elastic energy storage element is used to assist the hip joint, which can simultaneously assist the two joints of the lower limbs, and can improve the utilization efficiency of gait energy.
  • Fig. 1 is the schematic diagram that the flexible lower limb exoskeleton of the application is worn on the human body;
  • FIG. 2 is a schematic diagram of a clutch locking a first elastic energy storage element in an embodiment
  • FIG. 3 is a schematic diagram of the clutch shown in FIG. 2 releasing the first elastic energy storage element
  • Fig. 4 is the structural schematic diagram of the clutch in Fig. 2;
  • FIG. 5 is a flowchart of a control method of a flexible lower limb exoskeleton in one embodiment
  • FIG. 6 is a schematic diagram of elastic energy storage and elastic energy release during human motion walking.
  • FIG. 1 is a flexible lower limb exoskeleton according to an embodiment of the present invention, including a wearable component, an elastic energy storage component, and a clutch device.
  • the wearable component is used to be worn on the user's body
  • the elastic energy storage component is used to store gait energy
  • the clutch device releases energy at an appropriate time, and assists the muscles to assist along the muscle force compensation path to improve the utilization of gait energy Efficiency, reducing metabolic energy consumption during human walking.
  • the wearing component includes a waist wearing member 12 , a knee joint wearing member 14 and a sole wearing member 16 .
  • the waist wearing member 12 is used for wearing on the waist
  • the knee joint wearing member 14 is used for wearing on the knee joint
  • the sole wearing member 16 is used for wearing on the sole.
  • the waist wearing member 12 may be a waist loop
  • the knee joint wearing member 14 may be a knee joint sheath.
  • Waist cuffs and knee wraps should be made of soft materials, such as soft plastic, for user comfort.
  • the sole wear member 16 is similar to a conventional footwear structure and facilitates the walking of the user.
  • the elastic energy storage assembly includes a first elastic energy storage element 22 and a second elastic energy storage element 24.
  • the first elastic energy storage element 22 is arranged on the rear side of the calf, and both ends of the first elastic energy storage element 22 are respectively connected to the sole wearer. 16 and the knee joint wearer 14 .
  • the second elastic energy storage element 24 is arranged on the front side of the thigh, and both ends of the second elastic energy storage element 24 are respectively connected to the knee joint wearing member 14 and the waist wearing member 12 .
  • Both the first elastic energy storage element 22 and the second elastic energy storage element 24 are arranged along the muscle force compensation path.
  • the envelope straight path method that is, using a straight line passing through the starting and ending points of the muscle to describe the muscle
  • the broken line path method of setting the substitution point (adding some constraints on the basis of the straight line envelope straight path method model) and setting obstacles
  • the curve path method (it is based on the assumption that the muscle force is transmitted through the center of mass of the muscle section and the muscle is wound on the surface of a regular geometric body, the method takes into account the morphological characteristics of the human body), combined with the structural and physiological characteristics of the muscle, formulate muscle force compensation path, and according to gait analysis, correct the path of muscle strength compensation.
  • the number of the first elastic energy storage elements 22 is three, the three first elastic energy storage elements 22 cross each other on the back side of the calf, and the three first elastic energy storage elements 22 assist the tibialis anterior muscle, the gastrocnemius muscle and the Muscles such as flounder work on the ankle joint.
  • the number of the second elastic energy storage elements 24 is also three, and the three second elastic energy storage elements 24 cross each other on the front side of the thigh. Muscles such as the rectus muscle work on the hip joint.
  • the first elastic energy storage element 22 and the second elastic energy storage element 24 may be elastic bands, or elastically deformable structures such as springs.
  • the clutch device includes a first clutch device and a second clutch device.
  • the first clutch device is mounted on the knee joint wearer 14 , and the first clutch device can selectively lock or release the first elastic energy storage element 22 .
  • the second clutch device is mounted on the waist wearing part 12 , and the second clutch device selectively locks or releases the second elastic energy storage element 24 .
  • the first clutch device locks the first elastic energy storage element 22 .
  • the human body leans forward, and the first elastic energy storage element 22 is stretched along the muscle force compensation path to store gait energy.
  • the first clutch device releases the first elastic energy storage element 22, and the first elastic energy storage element 22 retracts along the muscle force compensation path, assisting the tibialis anterior muscle and the gastrocnemius muscle to drive the human body The center of gravity moves up and forward.
  • the second clutch device locks the second elastic energy storage element 24.
  • the human body leans forward, and the second elastic energy storage device is pulled along the muscle force compensation path. stretch to store gait energy.
  • the second clutch device releases the second elastic energy storage element 24, the second elastic energy storage element 24 retracts along the muscle force compensation path, and drives the knee joint wearing member 14. Assist the iliacus and rectus femoris, sartorius, pubis, anterior gluteus maxims and tensor fascia lata to drive the thigh to swing.
  • the first elastic energy storage element 22 and the second elastic energy storage element 24 are provided with barbs 26, and the first clutch device and the second clutch device use the same
  • the clutch 30 includes a swing rod 32 and a swing assembly 34 .
  • the swing components 34 are installed on the corresponding wearing parts, that is, the swing components 34 of the first clutch device are installed on the knee joint wear component 14 , and the swing components 34 of the second clutch device are installed on the waist wear component 12 .
  • the swing assembly 34 is connected with the swing rod 32, and the swing assembly 34 drives the swing rod 32 to swing, so that the swing rod 32 engages or separates from the barb 26, and locks or releases the first elastic energy storage element 22 and the second elastic energy storage element twenty four.
  • the swing assembly 34 includes a mounting frame 341 , a power source 342 , a transmission belt 343 and a gear 344 .
  • the mounting brackets 341 are mounted on the corresponding wearing parts. Specifically, the mounting brackets 341 of the first clutch device are installed on the knee joint wearing part 14 , and the mounting brackets 341 of the second clutch device are installed on the waist wearing part 12 .
  • the power source 342 is installed on the mounting frame 341 , the gear 344 is rotatably arranged on the wearing piece, and the power source 342 drives the gear 344 to reciprocate through the transmission belt 343 .
  • the swing rod 32 is connected with a gear 344, and the reciprocating rotation of the gear 344 can drive the swing rod 32 to swing.
  • the transmission belt 343 includes a wire rope 343a and a gear belt 343b, one end of the wire rope 343a is connected to the output end of the power source 342, the other end of the wire rope 343a is slidably connected to the mounting frame 341, and the gear belt 343b is connected between the two sections of the wire rope 343a.
  • the gear belt 343b meshes with the gear 344, and the wire rope 343a has a certain rigidity and softness.
  • the power source 342 drives the wire rope 343a to reciprocate up and down, so that the gear belt 343b drives the gear 344 to reciprocate.
  • the power source 342 is a telescopic micro-motor. It can be understood that, in other embodiments, the power source 342 may have other structures as long as it can drive the wire rope 343a to reciprocate up and down.
  • the mounting bracket 341 is provided with a baffle 345 .
  • the baffle 345 is located on the side of the mounting bracket 341 away from the gear 344 . Engagement ensures that the clutch device locks the first elastic energy storage element 22 and the second elastic energy storage element 24 .
  • the clutch device may have other structures, as long as the first elastic energy storage element 22 and the second elastic energy storage element 24 can be locked or released.
  • the swing assembly 34 may also be other structures, for example, the swing assembly 34 is a motor mechanism capable of reciprocating rotation, as long as the swing rod 32 can be driven to swing back and forth.
  • the knee joint wearing member 14 is provided with a first adjustment mechanism, and the first adjustment mechanism adjusts the initial length of the first elastic energy storage element 22 according to factors such as the lower leg, step length and step width.
  • the waist wearing member 12 is provided with a second adjusting mechanism, which adjusts the starting length of the second elastic energy storage element 24 according to factors such as lower limbs, thighs, waist width, step length and step width.
  • the first adjustment mechanism and the second adjustment mechanism adjust the lengths of the first elastic energy storage element 22 and the second elastic energy storage element 24 by means of rope buckles, Velcro or belt buckles.
  • the flexible lower limb exoskeleton further includes an information collection module.
  • the information collection module can collect gait feature information. According to the collected gait feature information, recognition algorithms such as neural network, support vector machine or ant colony can be used to determine the The gait process at the place to control the work of the lower extremity exoskeleton.
  • the information acquisition module includes a pressure sensor, a joint angle sensor and an electromyography sensor.
  • the pressure sensor is arranged in the sole wearing member 16, and a plurality of pressure sensors are arranged in the sole wearing member 16, and the plurality of pressure sensors are respectively used to sense whether the heel, the foot support and the toe touch the ground.
  • the joint angle sensor is arranged at the joint of the lower limb, that is, the joint angle sensor is arranged at the ankle joint and the hip joint, so as to obtain the joint angle of the lower limb.
  • the muscle sensor is used to install on the main active muscles of the lower limbs, such as the tibialis anterior muscle, gastrocnemius muscle, soleus muscle, quadriceps femoris and biceps femoris, etc., to obtain the EMG signal of the muscle.
  • the information collection module also includes a first tension sensor and a second tension sensor, the first tension sensor is installed at the connection between the first elastic energy storage element 22 and the knee joint wearer 14, and the second tension sensor is installed at the second elastic The connection of the energy storage element 24 to the waist wear 12 .
  • the first tensile force sensor monitors the tensile force and elongation of the first elastic energy storage element 22 in real time
  • the second tensile force sensor monitors the tensile force and elongation of the second elastic energy storage element 24 in real time, so as to calculate the elastic energy storage element 24 in real time.
  • the work produced by the energy component is produced by the energy component.
  • the present invention also provides a control method for a flexible lower limb exoskeleton.
  • this control method adopts the above-mentioned flexible lower limb exoskeleton.
  • the control method specifically includes the following steps:
  • Step S110 Determine whether the heel touches the ground, if the heel touches the ground, the first clutch device locks the first elastic energy storage element 22, the first elastic energy storage element 22 is stretched, and the gait energy is stored.
  • the information collection module collects sole pressure signals, joint angle signals and muscle EMG signals. After the signals are processed by amplification and filtering, recognition algorithms such as neural networks, support vector machines or ant colonies are used. Judge the gait process you are in, and comprehensively judge whether the heel is on the ground. After the heel hits the ground, specifically refers to the stage from the heel hit to the heel off the ground, the swing rod 32 is engaged with the barb 26 of the first elastic energy storage element 22, and the first elastic energy storage element 22 is locked. At this time, due to gravity Under the action of potential energy, the human body leans forward, and the first elastic energy storage element 22 is stretched along the muscle force compensation path to store gait energy.
  • Step S120 judging whether the heel is off the ground, if the heel is off the ground, the first clutch device releases the first elastic energy storage element 22, the first elastic energy storage element 22 retracts, and the gait energy is released for muscle strength compensation .
  • the gait feature information collected by the information collection module comprehensively determine whether the heel is off the ground, specifically referring to the stage from the heel off the ground to the toe off the ground.
  • the swing bar 32 is disengaged from the barbs 26 of the first elastic energy storage element 22, the first elastic energy storage element 22 retracts along the muscle force compensation roadbed, drives the sole, and assists the tibialis anterior and gastrocnemius muscles Drive the body's center of gravity upward and forward.
  • Step S130 judging whether the foot support or toe touches the ground, if the foot support or toe touches the ground, the second clutch device locks the second elastic energy storage element 24, the second elastic energy storage element 24 is stretched, and stores gait energy .
  • the gait feature information collected by the information collection module comprehensively determine whether the foot support or the toe touches the ground, specifically refers to the stage from the sole of the foot to the toe off the ground, the swing rod 32 of the second clutch device and the second elastic energy storage The barbs 26 of the element 24 are engaged, and the second elastic energy storage element 24 is locked. At this time, due to the action of gravitational potential energy, the human body leans forward, and the second elastic energy storage element 24 is stretched along the muscle force compensation path. Stores gait energy.
  • Step S140 judging whether the toe is off the ground, if the toe is off the ground, the second clutch device releases the second elastic energy storage element 24, the second elastic energy storage element 24 retracts, and releases gait energy for muscle force compensation .
  • the gait feature information collected by the information collection module comprehensively determine whether the toe is off the ground, specifically refers to the stage from the toe off the ground to the ground of the opposite sole, at which time the swing rod 32 of the second clutch device and the second elastic
  • the barbs 26 of the energy storage element 24 are disengaged, and the second elastic energy storage element 24 retracts along the muscle force compensation path, driving the knee joint wearer 14, assisting the iliacus, rectus femoris, sartorius, pubis, and gluteal muscles
  • the front of the middle muscle and the tensor fascia lata, etc. drive the thigh to swing.
  • control method further includes the following steps: acquiring the tensile force and elongation of the first elastic energy storage element 22 and the second elastic energy storage element 24, and calculating the first elastic energy storage element 22 and the second elastic energy storage element 24.
  • Energy storage element 24 produces work and further calculates the efficiency of gait energy storage. Specifically, the tensile force and elongation of the first elastic energy storage element 22 are obtained through the first tensile force sensor, and the tensile force and elongation of the second elastic energy storage element 24 are obtained through the second tensile force sensor.
  • the work Wt done by the elastic energy storage component further obtains its efficiency of storing gait energy where W j is the joint kinetic energy.
  • the energy release efficiency of the elastic energy storage element along the muscle force compensation path W out is the work done by the elastic energy storage element contracting to release elastic potential energy. According to the efficiency of storing gait energy and the efficiency of energy release, the elastic energy storage element, the muscle force synergistic compensation path and the clutch device can be further optimized and designed.
  • the flexible lower limb exoskeleton and the control method thereof have the advantages of simple structure, light weight, reliable movement, modular design function, can be disassembled, assembled and installed on the lower limb, and the design of the clutch mode is dexterous, which can efficiently utilize gait energy and utilize muscle force synergy. Mechanism to improve gait energy utilization efficiency and reduce metabolic energy consumption during human walking.

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Abstract

一种柔性下肢外骨骼，包括穿戴组件、弹性储能组件及离合装置。穿戴组件包括腰部穿戴件（12）、膝关节穿戴件（14）及鞋底穿戴件（16），弹性储能组件包括第一弹性储能元件（22）及第二弹性储能元件（24），第一弹性储能元件（22）的两端分别连接鞋底穿戴件（16）及膝关节穿戴件（14），第二弹性储能元件（24）的两端分别连接膝关节穿戴件（14）及腰部穿戴件（12）。离合装置包括第一离合装置及第二离合装置，第一离合装置可选择地锁定或松开第一弹性储能元件（22），第二离合装置可选择地锁定或者松开第二弹性储能元件（24）。该柔性下肢外骨骼及其控制方法，可以提升步态能量的利用效率，降低人体行走过程中的代谢能耗。

Description

柔性下肢外骨骼及其控制方法 技术领域
本申请属于下肢康复技术领域，特别是涉及一种柔性下肢外骨骼及其控制方法。
背景技术
无动力下肢外骨骼以步态能量作为能量源，实现人体低代谢能耗、高自适应和持续稳定行走，可应用于康复医疗、运动训练及医疗设备等领域。传统的无动力下肢外骨骼包含的装置主要借助于跨越髋、踝关节的弹性连杆，吸收运动过程中的机械能，来为人体正常行走提供助力。
目前，国内外对于下肢外骨骼均有较多的研究。但是，这些无动力下肢外骨骼的主流是采用刚性弹性元件进行单关节助力，不能最大程度利用步态过程中的能量，步态能量的利用效率较低。
发明内容
本申请提供了一种柔性下肢外骨骼及其控制方法，以提升步态能量的利用效率，降低人体行走过程中的代谢能耗。
为了解决上述问题，本申请提供了如下技术方案：
一种柔性下肢外骨骼，包括：
穿戴组件，包括腰部穿戴件、膝关节穿戴件及鞋底穿戴件，所述腰部穿戴件用于穿戴于腰部，所述膝关节穿戴件用于穿戴于膝关节上，所述鞋底穿戴件 用于穿戴于脚底；
弹性储能组件，包括第一弹性储能元件及第二弹性储能元件，所述第一弹性储能元件的两端分别连接所述鞋底穿戴件及所述膝关节穿戴件，所述第二弹性储能元件的两端分别连接所述膝关节穿戴件及所述腰部穿戴件；及
离合装置，包括第一离合装置及第二离合装置，所述第一离合装置安装于所述膝关节穿戴件上，所述第一离合装置可选择地锁定或松开所述第一弹性储能元件，所述第二离合装置安装于所述腰部穿戴件上，所述第二离合装置可选择地锁定或者松开所述第二弹性储能元件。
本申请实施例采取的技术方案还包括：所述第一弹性储能元件和所述第二弹性储能元件上均设有倒刺，所述第一离合装置和所述第二离合装置均包括摆杆及摆动组件，所述摆动组件安装于对应的穿戴件上，所述摆动组件与所述摆杆连接以驱动所述摆杆摆动，以使所述摆杆与所述倒刺啮合或者分离。
本申请实施例采取的技术方案还包括：所述摆动组件包括安装架、动力源、传动带及齿轮，所述动力源安装于所述安装架上，所述齿轮可转动地设置于所述穿戴件上，所述动力源通过所述传动带驱动所述齿轮往复旋转，所述摆杆与所述齿轮连接。
本申请实施例采取的技术方案还包括：所述传动带包括钢丝绳及齿轮带，所述钢丝绳的一端与所述动力源的输出端连接，所述钢丝纲的另一端与所述安装架滑动连接，所述齿轮带连接在所述钢丝绳之间，所述齿轮带与所述齿轮相啮合，所述动力源驱动所述钢丝绳往复移动，使所述齿轮带带动所述齿轮往复旋转。
本申请实施例采取的技术方案还包括：所述安装架上设有挡板，所述挡板能够与所述摆杆抵接，以保持所述摆杆与所述倒刺的啮合。
本申请实施例采取的技术方案还包括：所述膝关节穿戴件上设有第一调节机构，所述第一调节机构用于调节所述第一弹性储能元件的起始长度；和/或
所述腰部穿戴件上设有第二调节机构，所述第二调节机构用于调节所述第二弹性储能元件的起始长度。
本申请实施例采取的技术方案还包括：还包括信息采集模块，所述信息采集模块包括压力传感器、关节角度传感器和肌电传感器，所述压力传感器布置于所述鞋底穿戴件内，所述关节角度传感器用于设置于下肢关节处，所述肌电传感器用于安装于下肢肌肉上。
本申请实施例采取的技术方案还包括：所述信息采集模块还包括第一拉力传感器和第二拉力传感器，所述第一拉力传感器安装于所述第一弹性储能元件与所述膝关节穿戴件的连接处，所述第二拉力传感器安装于所述第二弹性储能元件与所述腰部穿戴件的连接处。
本申请实施例采取的又一技术方案为：一种如上述任意一项所述的柔性下肢外骨骼的控制方法，所述控制方法包括以下步骤：
判定足跟是否着地，若足跟着地，则第一离合装置将第一弹性储能元件锁定，所述第一弹性储能元件被拉伸，存储步态能量；
判断足跟是否离地，若足跟离地，则所述第一离合装置将所述第一弹性储能元件松开，所述第一弹性储能元件回缩，释放步态能量进行肌力补偿；
判断足撑或足尖是否着地，若足撑或足尖着地，则第二离合装置将第二弹性储能元件锁定，第二弹性储能元件被拉伸，存储步态能量；
判断足尖是否离地，若足尖离地，则所述第二离合装置将所述第二弹性储能元件松开，所述第二弹性储能元件回缩，释放步态能量进行肌力补偿。
本申请实施例采取的技术方案还包括：所述控制方法还包括以下步骤：
获取所述第一弹性储能元件和所述第二弹性储能元件的拉伸力和伸长量，计算出所述第一弹性储能元件和所述第二弹性储能元件产生的功，并进一步计算获得存储步态能量的效率。
相对于现有技术，本申请实施例产生的有益效果在于：上述柔性下肢外骨骼及其控制方法，借助弹性储能元件储存步态能量，采用离合装置在恰当的时刻进行释放能量，并协助肌肉沿肌力补偿路径进行助力，以提升步态能量的利用效率，降低人体行走过程中的代谢能耗。同时，第一弹性储能元件储存的能量用于助力踝关节，第二弹性储能元件储存的能量用于助力髋关节，能够同时助力下肢的两个关节，可以提高步态能量的利用效率。
附图说明
图1为申请的柔性下肢外骨骼穿戴于人体上的示意图；
图2为一实施方式中离合器锁定第一弹性储能元件的示意图；
图3为图2所示的离合器松开第一弹性储能元件的示意图；
图4为图2中离合器的结构示意图；
图5为一实施方式中柔性下肢外骨骼的控制方法的流程图；
图6为人体运动行走过程中弹性能量存储与弹性能量释放的示意图。
附图中各标号的含义为：
12-腰部穿戴件；14-膝关节穿戴件；16-鞋底穿戴件；22-第一弹性储能元件；24-第二弹性储能元件；26-倒刺；30-离合器；32-摆杆；34-摆动组件；341-安装架；342-动力源；343-传动带；343a-钢丝绳；343b-齿轮带；344-齿轮；345-挡板。
具体实施方式
为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本申请，并不用于限定本申请。
需要说明的是，当元件被称为“固定于”另一个元件，它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。
请参阅图1，其为本发明的一种实施例的柔性下肢外骨骼，包括穿戴组件、弹性储能组件及离合装置。其中，穿戴组件用于穿戴于用户身体上，弹性储能组件用于存储步态能量，离合装置在适当的时刻释放能量，并协助肌肉沿肌力补偿路径进行助力，以提升步态能量的利用效率，降低人体行走过程中的代谢能耗。
具体地，穿戴组件包括腰部穿戴件12、膝关节穿戴件14及鞋底穿戴件16。其中，腰部穿戴件12用于穿戴于腰部上，膝关节穿戴件14用于穿戴于膝关节上，鞋底穿戴件16用于穿戴于鞋底。具体地，腰部穿戴件12可以腰部环套，膝关节穿戴件14可以为膝关节护套。腰部环套和膝关节护套应采用柔软材料制成，如柔软的塑料，以保证用户的舒适度。鞋底穿戴件16类似于传统的鞋类结构，便于用户的行走。
弹性储能组件包括第一弹性储能元件22及第二弹性储能元件24，第一弹性储能元件22布置于小腿的后侧，第一弹性储能元件22的两端分别连接鞋底 穿戴件16及膝关节穿戴件14。第二弹性储能元件24布置于大腿的前侧，第二弹性储能元件24的两端分别连接膝关节穿戴件14及腰部穿戴件12。
第一弹性储能元件22和第二弹性储能元件24均沿肌力补偿路径布置。其中，借助包络直线路径法(即采用通过肌肉起止点的直线来描述肌肉)、设置代止点的折线路径法(在直线包络直线路径法模型基础上增加了一些约束)及设置障碍物的曲线路径法(它是基于肌肉力的传递通过肌肉截面质心、肌肉缠绕于规则几何体表面等假设,该方法考虑了人体的形态学特征)，结合肌肉的结构特性及生理特性，制定肌力补偿路径，并根据步态分析，修正肌力补偿路径。
一实施方式中，第一弹性储能元件22的数量为三个，三个第一弹性储能元件22于小腿后侧相互交叉，三个第一弹性储能元件22协助胫骨前肌、腓肠肌及比目鱼等肌肉对踝关节做功。第二弹性储能元件24的数量也为三个，三个第二弹性储能元件24于大腿前侧相互交叉，三个第二弹性储能元件24协助股外侧肌、股内侧肌力及股直肌等肌肉对髋关节做功。第一弹性储能元件22和第二弹性储能元件24可以为弹性带，或者弹簧等能够弹性变形的结构。
离合装置包括第一离合装置及第二离合装置，第一离合装置安装于膝关节穿戴件14上，第一离合装置可选择地锁定或者松开第一弹性储能元件22。第二离合装置安装于腰部穿戴件12上，第二离合装置可选择地锁定或者松开第二弹性储能元件24。
当足跟着地至足跟离地阶段，第一离合装置锁定第一弹性储能元件22。此时由于重力势能的作用下，人体前倾，第一弹性储能元件22沿着肌力补偿路径被拉伸，进行存储步态能量。
当足跟离地至足尖离地阶段，第一离合装置松开第一弹性储能元件22，第一弹性储能元件22沿着肌力补偿路径回缩，协助胫骨前肌和腓肠肌驱动人 体的重心向上、向前运动。
当足撑着地至足尖离地阶段，第二离合装置锁定第二弹性储能元件24，此时由于重力势能的作用下，人体前倾，第二弹性储能沿着肌力补偿路径被拉伸，进行存储步态能量。
当足尖离地至对侧足掌着地阶段，第二离合装置松开第二弹性储能元件24，第二弹性储能元件24沿着肌力补偿路径回缩，带动膝关节穿戴件14，协助髂肌及股直肌、缝匠肌、耻骨肌、臀中肌前部及阔筋膜张肌等驱动大腿进行摆动。
请一并参阅图2至图4,，一实施方式中，第一弹性储能元件22和第二弹性储能元件24上均设有倒刺26，第一离合装置和第二离合装置采用相同的离合器30，离合器30包括摆杆32及摆动组件34。摆动组件34安装于对应的穿戴件上，即是第一离合装置的摆动组件34安装于膝关节穿戴件14上，第二离合装置的摆动组件34安装于腰部穿戴件12上。摆动组件34与摆杆32连接，摆动组件34驱动摆杆32摆动，以使摆杆32与倒刺26啮合或者分离，实现锁定或者松开第一弹性储能元件22和第二弹性储能元件24。
具体地，摆动组件34包括安装架341、动力源342、传动带343及齿轮344。安装架341安装于对应的穿戴件上，具体而言，第一离合装置的安装架341安装于膝关节穿戴件14上，第二离合装置的安装架341安装于腰部穿戴件12上。动力源342安装于安装架341上，齿轮344可转动地设置于穿戴件上，动力源342通过传动带343驱动齿轮344往复旋转。摆杆32与齿轮344连接，齿轮344的往复旋转可以带动摆杆32摆动。
进一步地，传动带343包括钢丝绳343a及齿轮带343b，钢丝绳343a的一端与动力源342的输出端连接，钢丝绳343a的另一端与安装架341滑动连接， 齿轮带343b连接在两段钢丝绳343a之间。齿轮带343b与齿轮344相啮合，钢丝绳343a具有一定的刚度和柔软相，动力源342驱动钢丝绳343a上下往复移动，使齿轮带343b带动齿轮344往复旋转。具体地，动力源342为能够伸缩的微电机。可以理解的是，在其他实施方式中，动力源342可以为其他结构，只要能够驱动钢丝绳343a上下往复移动即可。
一实施方式中，安装架341上设有挡板345，挡板345位于安装架341远离齿轮344的一侧，挡板345能够与摆杆32相抵接，以保持摆杆32与倒刺26的啮合，保证离合装置锁定第一弹性储能元件22和第二弹性储能元件24。
可以理解的是，在其他实施方式中，离合装置可以为其他结构，只要能够锁定或者松开第一弹性储能元件22和第二弹性储能元件24即可。对于摆动组件34，也可以为其他结构，例如摆动组件34为能够往复旋转的电机机构，只要能够驱动摆杆32往复摆动即可。
一实施方式中，膝关节穿戴件14上设有第一调节机构，第一调节机构根据下肢小腿、步长和步宽等因素，调节第一弹性储能元件22的起始长度。腰部穿戴件12上设有第二调节机构，第二调节机构根据下肢大腿、腰宽、步长和步宽等因素，调节第二弹性储能元件24的起始长度。具体地，第一调节机构和第二调节机构通过绳扣、魔术贴或者带扣等方式调节第一弹性储能元件22和第二弹性储能元件24的长度。
一实施方式中，柔性下肢外骨骼还包括信息采集模块，信息采集模块可以采集步态特征信息，根据采集的步态特征信息，可以采用神经网络、支持向量机或蚁群等识别算法，判断所处的步态过程，以控制下肢外骨骼工作。具体地，信息采集模块包括压力传感器、关节角度传感器和肌电传感器。
压力传感器布置于鞋底穿戴件16内，压力传感器在鞋底穿戴件16内布置 有多个，多个压力传感器分别用于感知足跟、足撑和足尖是否着地。关节角度传感器设置于下肢关节处，即踝关节和髋关节处均布置关节角度传感器，用于获得下肢的关节角度。肌肉传感器用于安装于下肢主要活动的肌肉上，如胫骨前肌、腓肠肌、比目鱼肌、股四头肌和股二头肌等，用于获得肌肉的肌电信号。
进一步地，信息采集模块还包括第一拉力传感器和第二拉力传感器，第一拉力传感器安装于第一弹性储能元件22与膝关节穿戴件14的连接处，第二拉力传感器安装于第二弹性储能元件24与腰部穿戴件12的连接处。其中，第一拉力传感器实时监测第一弹性储能元件22的拉伸力和伸长量，第二拉力传感器实时监测第二弹性储能元件24的拉伸力和伸长量，以此计算出弹性储能组件产生的功。
请参阅图5，本发明还提供一种柔性下肢外骨骼的控制方法。为实现该控制方法，其采用上述柔性下肢外骨骼。该控制方法具体包括如下步骤：
步骤S110：判断足跟是否着地，若足跟着地，则第一离合装置将第一弹性储能元件22锁定，第一弹性储能元件22被拉伸，存储步态能量。
请一并参阅图6，具体地，信息采集模块采集鞋底压力信号、关节角度信号和肌肉肌电信号，信号通过放大和滤波等处理后，采用神经网络、支持向量机或蚁群等识别算法，判断所处的步态过程，综合判断足跟是否着地。当足跟着地后，具体指足跟着地至足跟离地阶段，使摆杆32与第一弹性储能元件22的倒刺26啮合，第一弹性储能元件22被锁定，此时由于重力势能的作用下，人体前倾，第一弹性储能元件22沿着肌力补偿路径被拉伸，进行存储步态能量。
步骤S120：判断足跟是否离地，若足跟离地，则第一离合装置将第一弹性储能元件22松开，第一弹性储能元件22回缩，释放步态能量进行肌力补偿。
具体地，根据信息采集模块采集的步态特征信息，综合判断足跟是否离地，具体指足跟离地至足尖离地阶段。当足跟离地后，摆杆32与第一弹性储能元件22的倒刺26脱离啮合，第一弹性储能元件22沿着肌力补偿路基回缩，带动鞋底，协助胫骨前肌、腓肠肌驱动人体的重心向上、向前运动。
步骤S130：判断足撑或足尖是否着地，若足撑或足尖着地，则第二离合装置将第二弹性储能元件24锁定，第二弹性储能元件24被拉伸，存储步态能量。
具体地，根据信息采集模块采集的步态特征信息，综合判断足撑或足尖是否着地，具体指足掌着地至足尖离地阶段，第二离合装置的摆杆32与第二弹性储能元件24的倒刺26相啮合，第二弹性储能元件24被锁定，此时由于重力势能的作用下，人体前倾，第二弹性储能元件24沿着肌力补偿路径被拉伸，进行存储步态能量。
步骤S140：判断足尖是否离地，若足尖离地，则第二离合装置将第二弹性储能元件24松开，第二弹性储能元件24回缩，释放步态能量进行肌力补偿。
具体地，根据信息采集模块采集的步态特征信息，综合判断足尖是否离地，具体指足尖离地至对侧足掌着地阶段，此时第二离合装置的摆杆32与第二弹性储能元件24的倒刺26脱离啮合，第二弹性储能元件24沿着肌力补偿路径回缩，带动膝关节穿戴件14，协助髂肌及股直肌、缝匠肌、耻骨肌、臀中肌前部及阔筋膜张肌等驱动大腿进行摆动。
一实施方式中，该控制方法还包括以下步骤：获取第一弹性储能元件22和第二弹性储能元件24的拉伸力和伸长量，计算出第一弹性储能元件22和第二弹性储能元件24产生的功，并进一步计算步态能量存储的效率。具体地，通过第一拉力传感器获得第一弹性储能元件22的拉伸力和伸长量，通过第二 拉力传感器获得第二弹性储能元件24的拉伸力和伸长量，由此可以计算出弹性储能组件所做的功Wt，进一步获得其存储步态能量的效率
Figure PCTCN2020115723-appb-000001
式中W j为关节动能。另外，弹性储能元件沿肌力补偿路径的能量释放效率
Figure PCTCN2020115723-appb-000002
W out为弹性储能元件收缩释放弹性势能做的功。可以根据存储步态能量的效率和能量释放效率，进一步优化设计弹性储能元件、肌力协同补偿路径及离合装置等元件。
上述柔性下肢外骨骼及其控制方法，结构简单，质量轻，运动可靠，具有模块化设计功能，可以拆卸、组合安装于下肢上，离合方式设计灵巧，能够高效利用步态能量，利用肌力协同机制，提升步态能量利用效率，降低人体行走过程中的代谢能耗。
对所公开的实施例的上述说明，使本领域专业技术人员能够实现或使用本申请。对这些实施例的多种修改对本领域的专业技术人员来说将是显而易见的，本文中所定义的一般原理可以在不脱离本申请的精神或范围的情况下，在其它实施例中实现。因此，本申请将不会被限制于本文所示的这些实施例，而是要符合与本文所公开的原理和新颖特点相一致的最宽的范围。

Claims (10)

  1. 一种柔性下肢外骨骼，其特征在于，包括：
    穿戴组件，包括腰部穿戴件、膝关节穿戴件及鞋底穿戴件，所述腰部穿戴件用于穿戴于腰部，所述膝关节穿戴件用于穿戴于膝关节上，所述鞋底穿戴件用于穿戴于脚底；
    弹性储能组件，包括第一弹性储能元件及第二弹性储能元件，所述第一弹性储能元件的两端分别连接所述鞋底穿戴件及所述膝关节穿戴件，所述第二弹性储能元件的两端分别连接所述膝关节穿戴件及所述腰部穿戴件；及
    离合装置，包括第一离合装置及第二离合装置，所述第一离合装置安装于所述膝关节穿戴件上，所述第一离合装置可选择地锁定或松开所述第一弹性储能元件，所述第二离合装置安装于所述腰部穿戴件上，所述第二离合装置可选择地锁定或者松开所述第二弹性储能元件。
  2. 根据权利要求1所述的柔性下肢外骨骼，其特征在于，所述第一弹性储能元件和所述第二弹性储能元件上均设有倒刺，所述第一离合装置和所述第二离合装置均包括摆杆及摆动组件，所述摆动组件安装于对应的穿戴件上，所述摆动组件与所述摆杆连接以驱动所述摆杆摆动，以使所述摆杆与所述倒刺啮合或者分离。
  3. 根据权利要求2所述的柔性下肢外骨骼，其特征在于，所述摆动组件包括安装架、动力源、传动带及齿轮，所述动力源安装于所述安装架上，所述齿轮可转动地设置于所述穿戴件上，所述动力源通过所述传动带驱动所述齿轮往复旋转，所述摆杆与所述齿轮连接。
  4. 根据权利要求3所述的柔性下肢外骨骼，其特征在于，所述传动带包括 钢丝绳及齿轮带，所述钢丝绳的一端与所述动力源的输出端连接，所述钢丝纲的另一端与所述安装架滑动连接，所述齿轮带连接在所述钢丝绳之间，所述齿轮带与所述齿轮相啮合，所述动力源驱动所述钢丝绳往复移动，使所述齿轮带带动所述齿轮往复旋转。
  5. 根据权利要求3所述的柔性下肢外骨骼，其特征在于，所述安装架上设有挡板，所述挡板能够与所述摆杆抵接，以保持所述摆杆与所述倒刺的啮合。
  6. 根据权利要求1-5任意一项所述的柔性下肢外骨骼，其特征在于，所述膝关节穿戴件上设有第一调节机构，所述第一调节机构用于调节所述第一弹性储能元件的起始长度；和/或
    所述腰部穿戴件上设有第二调节机构，所述第二调节机构用于调节所述第二弹性储能元件的起始长度。
  7. 根据权利要求1-5任意一项所述的柔性下肢外骨骼，其特征在于，还包括信息采集模块，所述信息采集模块包括压力传感器、关节角度传感器和肌电传感器，所述压力传感器布置于所述鞋底穿戴件内，所述关节角度传感器用于设置于下肢关节处，所述肌电传感器用于安装于下肢肌肉上。
  8. 根据权利要求7所述的柔性下肢外骨骼，其特征在于，所述信息采集模块还包括第一拉力传感器和第二拉力传感器，所述第一拉力传感器安装于所述第一弹性储能元件与所述膝关节穿戴件的连接处，所述第二拉力传感器安装于所述第二弹性储能元件与所述腰部穿戴件的连接处。
  9. 一种如权利要求1-8任意一项所述的柔性下肢外骨骼的控制方法，其特征在于，所述控制方法包括以下步骤：
    判定足跟是否着地，若足跟着地，则第一离合装置将第一弹性储能元件锁定，所述第一弹性储能元件被拉伸，存储步态能量；
    判断足跟是否离地，若足跟离地，则所述第一离合装置将所述第一弹性储能元件松开，所述第一弹性储能元件回缩，释放步态能量进行肌力补偿；
    判断足撑或足尖是否着地，若足撑或足尖着地，则第二离合装置将第二弹性储能元件锁定，第二弹性储能元件被拉伸，存储步态能量；
    判断足尖是否离地，若足尖离地，则所述第二离合装置将所述第二弹性储能元件松开，所述第二弹性储能元件回缩，释放步态能量进行肌力补偿。
  10. 根据权利要求9所述的控制方法，其特征在于，所述控制方法还包括以下步骤：
    获取所述第一弹性储能元件和所述第二弹性储能元件的拉伸力和伸长量，计算出所述第一弹性储能元件和所述第二弹性储能元件产生的功，并进一步计算获得存储步态能量的效率。
PCT/CN2020/115723 2020-09-17 2020-09-17 柔性下肢外骨骼及其控制方法 Ceased WO2022056754A1 (zh)

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