WO2022204843A1 - Exosquelette de support de charge de membre inférieur pouvant être porté, commutable, actif et passif - Google Patents

Exosquelette de support de charge de membre inférieur pouvant être porté, commutable, actif et passif Download PDF

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Publication number
WO2022204843A1
WO2022204843A1 PCT/CN2021/083485 CN2021083485W WO2022204843A1 WO 2022204843 A1 WO2022204843 A1 WO 2022204843A1 CN 2021083485 W CN2021083485 W CN 2021083485W WO 2022204843 A1 WO2022204843 A1 WO 2022204843A1
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WO
WIPO (PCT)
Prior art keywords
thigh
hip
knee joint
calf
rod
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PCT/CN2021/083485
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English (en)
Chinese (zh)
Inventor
魏巍
林西川
张海峰
Original Assignee
迈宝智能科技(苏州)有限公司
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Priority to PCT/CN2021/083485 priority Critical patent/WO2022204843A1/fr
Publication of WO2022204843A1 publication Critical patent/WO2022204843A1/fr

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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
    • 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

Definitions

  • the invention relates to the technical field of medical devices, in particular to a wearable lower limb weight-bearing exoskeleton with active and passive switching.
  • Exoskeleton robot technology is a comprehensive technology that integrates sensing, control, information, fusion, and mobile computing to provide a wearable mechanical mechanism for the operator.
  • Exoskeleton robots are used to provide assistance to the human body, and have outstanding development prospects in enhancing human skills and assisting movement, and have increasingly become a research focus in the field of robotics.
  • the present invention relates to a wearable lower-limb weight-bearing power-assisted exoskeleton, which provides support and assistance when the human body is walking with weight-bearing, and a similar structure is also mentioned in the US13139933 patent.
  • the US15349602 patent describes an unpowered weight-bearing exoskeleton structure for supporting the human body, which consists of a bionic spine, waist, legs and feet without external drives or energy storage devices.
  • the bionic spine is fixed to the human body through mechanical structure and binding.
  • the bionic spine carries heavy objects.
  • the waist is used to connect the bionic spine and the legs.
  • the leg structure is fixed on the thigh by binding.
  • US14634403 patent discloses an exoskeleton structure for supporting body weight and assisting human walking, which drives the knee joint of the three-hinge structure through a motor placed on the back to drive the steel rope, so as to realize the flexion, extension and flexion movement of the knee joint and the hip joint. .
  • the patent cannot be replaced with a passive drive structure.
  • US15604891 patent discloses an exoskeleton structure for supporting body weight and assisting human walking, in which the knee joint is composed of multiple sheet-like structure hinges and is driven by a motor. Similarly, the knee joint structure is relatively complex and cannot be replaced with passive drive structure.
  • CN201811252375.1 discloses a weight-bearing exoskeleton with active power assist of the knee joint.
  • the rope is driven by a back drive motor to provide active power assistance when the knee joint of the human body is extended, so as to provide additional torque for the human body and assist the human body to walk.
  • the exoskeleton cannot convert active knee assist to passive assist.
  • CN201920639613.8 discloses a hip joint and knee joint power assist exoskeleton, which realizes the power assist of the hip joint and the knee joint through a motor-driven ball-wire structure, and assists the human body to walk. At the same time, the exoskeleton cannot convert the hip and knee joints from active assistance to passive assistance according to actual needs.
  • the purpose of the present invention is to provide a wearable lower extremity weight-bearing exoskeleton with active and passive switching.
  • the exoskeleton has a compact and lightweight structure, which can be fitted on the bodies of users of different sizes, increases wearing comfort, and provides reliable support and safety. Power assist, and can freely choose the active and passive drive modes of the hip and knee joints according to the actual use situation.
  • a wearable lower limb load-bearing exoskeleton with active and passive switching comprising a back support device, a hip joint, a hip joint drive module, a knee joint drive module, a control module, a thigh, The lower leg, ankle joint and sole device; the back support device, the hip joint, the thigh, the lower leg, the ankle joint and the sole device are sequentially connected from top to bottom to form an outer body bound and connected to the user's body.
  • the control module, the hip joint drive module and the knee joint drive module are detachably connected to the exoskeleton body; the knee joint drive module knee joint active drive module or knee joint passive drive module, the control module is electrically connected to The hip joint drive module or the knee joint active drive module is used to control the hip joint drive module or the knee joint active drive module to be turned on or off.
  • the back support device includes a support rod unit, a bionic spine, a hip connector, an integrated strap and an integrated lumbar pad, the support rod unit is arranged in a vertical direction, and the bionic spine is connected and arranged on the support rod unit.
  • the bottom of the hip connector is connected to the bottom of the bionic spine, the integrated strap is connected to the side of the support rod unit, the integrated lumbar pad is connected to the side of the hip connector, and the The one-piece waist pad is on the same side as the one-piece back strap;
  • the hip joint is connected to the hip connector, including two pairs of relatively rotatable upper connector two and lower connector two symmetrically arranged on the left and right sides of the hip connector;
  • the hip joint drive module includes two, symmetrically arranged on the hip the left and right sides of the connecting piece;
  • the hip joint driving module is detachably connected to the hip joint, and is used to drive the second upper connecting piece and the second lower connecting piece arranged on the same side to rotate relatively;
  • the thigh part includes a pair of thigh sockets, a pair of thigh rods and a pair of knee joint outer devices symmetrically arranged in the left and right directions, the thigh sockets are arranged in a vertical direction, and the thigh rods are connected in a vertical direction.
  • the outer device of the knee joint is connected to the lower end of the thigh slot; the upper end of the thigh rod is connected to the second lower connecting piece; a rod and a pair of knee joint medial devices, the calf socket is arranged in a vertical direction, the knee joint medial device is connected to the upper end of the calf socket in the vertical direction, and the calf rod is connected to the lower end of the calf socket; the The medial device of the knee joint is hinged to the lateral device of the knee joint to constitute the knee joint;
  • the knee joint driving module is a pair of knee joint active driving modules or a pair of knee joint passive driving modules symmetrically arranged along the left and right directions;
  • the knee joint active driving module includes a driving module and a driving connection connected to the output end of the driving module.
  • the rod, the drive module is detachably connected to the thigh, and the end of the drive link away from the drive module is connected to the lower leg;
  • the passive drive module of the knee joint includes a torque generator and is fixed to the torque generator The end of the device, the torque generator is detachably connected to the thigh, and the end of the end away from the torque generator is connected to the calf;
  • the ankle joints include two, which are symmetrically arranged along the left and right directions, and are respectively connected to the lower legs arranged on the same side as the ankle joints, including a 2DOF hinge structure connected to the lower leg rod and a plantar pressure measuring device for measuring plantar pressure;
  • the foot sole device includes two, which are respectively connected to the ankle joints arranged on the same side thereof, and are used for adjusting and fixing the foot of the human body.
  • the support rod unit includes an outer support rod, an inner support rod and a first size adjustment module, the inner support rod is inserted into the outer support rod, and the first size adjustment module is fixedly connected to the outer support rod and the inner support rod. , and the first size adjustment module adjusts the length of the support rod unit along the vertical direction by adjusting the fixed positions of the outer support rod and the inner support rod;
  • the bionic spine comprises an upper connecting piece, a connecting piece group and a lower connecting piece, the connecting piece group is composed of a plurality of connecting pieces connected in series; the upper end of the upper connecting piece is connected to the bottom end of the inner support rod, and the lower end is hinged On the upper end of the connecting piece group, an upper end of the lower connecting piece is hinged to the lower end of the connecting piece group, and the lower end is connected to the hip connecting piece;
  • the one-piece strap is provided with a backpack bracket, and the backpack bracket is fixedly connected to the outer support rod;
  • the integrated lumbar pad includes a lumbar pad and a lumbar pad connecting plate fixed to the lumbar pad, and the lumbar pad connecting plate is fixed to the hip connector.
  • the hip joint further includes a pair of lumbar bars, a pair of second size adjustment modules and two crossed roller bearings;
  • the second size adjustment module and the waist rod are respectively arranged symmetrically on both sides of the hip connector along the left and right directions, and the second size adjustment module is respectively connected to the hip connector and one end of the waist rod provided on the same side thereof, and the waist rod is respectively connected to the hip connector.
  • the other end is hinged to the upper connecting piece 2 provided on the same side; the second size adjustment module adjusts the width of the waist formed by the waist rod and the hip connecting piece by adjusting the fixed position of the second size adjusting module and the hip connecting piece;
  • the crossed roller bearings are respectively installed in the second lower connecting pieces on the left and right sides, the outer ring of the crossed roller bearing is fixedly connected to the second lower connecting piece, and the inner ring of the crossed roller bearing is fixedly connected to the second upper connecting piece; the lower connection A limiting surface is provided on the side surface of the second member close to the upper connecting member 2, the limiting surface is attached to the side surface of the upper connecting member 2 adjacent to the lower connecting member 2, and the limiting surface is used to limit the back swing angle of the hip joint.
  • the hip joint drive module includes a motor frame cover, a drive motor, a motor frame and a D-shaped shaft;
  • the outer cover of the motor frame is fixedly connected to the motor frame, and the outer cover of the motor frame and the motor frame form an installation chamber that is opened from the motor frame away from the side of the outer cover of the motor frame;
  • the driving motor is fixed in the installation cavity, and the output end of the driving motor is self-installing
  • the opening of the chamber is connected to the D-shaped shaft;
  • the motor frame is provided with a tenon along the outer edge of the opening of the installation chamber, and the tenon extends to the outside of the opening of the installation chamber;
  • the side of the lower connecting piece away from the upper connecting piece 2 is provided with a first through hole penetrating through the lower connecting piece 2 to the upper connecting piece 2, and a tenon sliding groove is arranged on the side of the lower connecting piece 2 away from the upper connecting piece;
  • the motor The frame is fixedly connected to the second lower connecting piece, and the tenon on the motor frame is adapted to the slotting slot; the D-shaped shaft is inserted into the second upper connecting piece from the first through hole.
  • the thigh part further comprises a pair of third size adjustment modules, a pair of thigh binding plates and a pair of thigh shells symmetrically arranged along the left and right directions;
  • the third size adjustment module is installed between the thigh slot and the thigh rod provided on the same side, and is connected to the thigh slot and the thigh rod respectively, and the third size adjustment module adjusts the thigh by adjusting its fixed position with the thigh slot. the length of the part in the vertical direction;
  • the lower end of the knee joint outer device close to the lower leg is set as an arc-shaped transition structure, and the arc-shaped transition structure is provided with a second through hole along the left-right direction; the two sides of the arc-shaped transition structure along the left-right direction are respectively A knee joint limiting piece is provided, and the knee joint limiting piece is attached to the side surface of the arc-shaped transition structure, and is used to limit the rotation angle of the knee joint outer device and the knee joint inner device;
  • the thigh binding plate is hinged to the thigh slot set on the same side, and is located on the side of the thigh slot close to the human body, and is used to be fastened to the thigh of the human body through the binding belt; the thigh shell is fixed to the thigh slot, located in the thigh slot. Thigh slot away from body side.
  • the knee joint active drive module also includes a second motor frame, the second motor frame is fixed to the thigh slot; the drive module is fixed to the second motor frame, and the output end of the drive module is hinged to the drive module. link;
  • One end of the torque generator away from the end head in the passive drive module of the knee joint is provided with a first installation hole, and the first installation hole is connected to the thigh slot through an adapter.
  • the calf further includes a pair of fourth size adjustment modules symmetrically arranged along the left-right direction, a pair of calf binding plates, a pair of calf inner shells, a pair of calf outer shells, and a pair of anchor points;
  • the fourth size adjustment module is fixedly connected to the calf slot and the calf rod provided on the same side, and adjusts the length of the calf along the vertical direction by adjusting the fixed position of the calf slot and the calf rod;
  • the upper end of the inner side device of the knee joint away from the calf slot is provided with an installation slot, the installation slot is adapted to the arc transition structure at the lower end of the outer device of the knee joint arranged on the same side, and the installation slot is two directions along the left and right directions.
  • the side wall is provided with a third through hole corresponding to the second through hole; the third through hole and the second through hole are connected by a hinge pin;
  • the calf binding plate is respectively hinged to the inner device of the knee joint and the calf slot, and is located on the inner side of the knee joint and the calf slot is close to the side of the human body, and is used to be fastened to the calf of the human body through the binding belt; the inner shell of the calf It is fixed to the calf slot and is located below the calf binding plate; the calf shell is respectively fixed to the knee joint inner device and the calf inner shell. Groove and calf inner shell outer;
  • the anchor points are respectively arranged on the inner side devices of the two knee joints on the left and right, and are used for fixing the end of the driving link away from the drive module or the end of the fixing end away from the torque generator.
  • the 2DOF hinge structure includes a lower leg connecting rod, a rotating hinge, a foot side support block and a support block shell;
  • the calf connecting rod is arranged in the vertical direction, the upper end of the calf connecting rod is fixed to the calf rod, and the lower end is hinged to the rotating hinge along the left and right or front and rear directions;
  • the left and right directions are hinged with the foot side support block;
  • the outer cover of the support block is arranged on the outer side of the foot side support block;
  • the lower leg connecting rod has a degree of freedom to rotate relative to the foot side support block along the inward/abducted and flexion/extension directions;
  • the plantar pressure measuring device is set as a plantar pressure measuring piece, the plantar pressure measuring piece is fixedly connected to the foot side support block, and its measuring surface is located above the sole device; the plantar pressure measuring piece has the function of elastic deformation. The degree of freedom of its measuring surface fitting to the upper surface of the sole device;
  • the foot sole device includes a supporting steel sheet, a rubber pad and a fifth size adjustment module; the supporting steel sheet is inserted into the rubber pad along the horizontal direction, and the supporting steel sheet and the rubber pad together form a sole located at the bottom of the foot side support block;
  • the supporting steel sheet is fixedly connected to the foot side support block, and the measuring surface of the sole pressure measurement sheet is located above the rubber pad;
  • the fifth size adjustment module includes an energy buckle and a nylon toothed belt, and the energy buckle is fixed to the rubber A pad, one end of the nylon toothed belt is fixed to the foot side support block, and the other end enters and exits the energy buckle, so as to realize the elastic adjustment of the sole and the foot side support block.
  • the second size adjustment module includes a rotating block, a stepped shaft, a first sliding block, a connecting pin, a deep groove ball bearing, a washer and a thumb screw;
  • the hip connector is set as a flat-plate structure, and a pair of first chutees with countersunk hole-like structures are symmetrically arranged along the left-right direction on one side of the board surface close to the human body after wearing, and the first sliding block is installed on the first sliding block. and can slide along the first chute; a pair of limit grooves corresponding to the position of the first chute are provided on the side plate of the hip connector away from the human body after being worn, and the limit grooves extend along the left and right sides. and the limit groove is provided with several limit notches along its extending direction; a notch is provided between the first chute corresponding to the position on the hip connector and the limit groove, and the notch penetrates through the first chute and the limit groove. Chute and limit groove;
  • the rotating block is arranged on the side of the hip connecting piece away from the human body, and the rotating block is provided with a rotating groove running through the rotating block, and the rotating groove is communicated with the notch;
  • the stepped shaft is disposed between the hip connecting piece and the rotating block, and the stepped A deep groove ball bearing and a gasket are set on the shaft and then inserted into the rotating groove;
  • a limit point is set on the end face of the stepped shaft away from the rotating block, and the limit point is engaged with the limit groove on the hip connector;
  • the connecting pin penetrates the first sliding block, the notch, and the rear part of the stepped shaft in sequence from the side of the hip connector close to the human body, and protrudes from the rotating block, and the hand-tightening screw is fixed to the connecting pin from the side of the rotating block away from the hip connecting piece;
  • the rotating block and the hip connector have relative rotational degrees of freedom.
  • the third size adjustment module includes a handle, a fixing part, a spring, a base, an adjustment rod and a connecting block;
  • the handle is set as a U-like structure in cross section along its length direction, and a pair of second mounting holes and a pair of third mounting holes are correspondingly provided on two opposite side walls of the handle;
  • the base is set as a first U-shaped structure.
  • a pair of fourth mounting holes are arranged on the opposite side walls of the base, the fourth mounting holes are adapted to the second mounting holes, and the spring is arranged between the two fourth mounting holes;
  • the fixing part is set as a hinge pin, and the hinge pin penetrates through the second mounting hole on the connection handle, the fourth mounting hole on the base and the spring;
  • the connecting block is set to a second U-shaped structure, the two side walls of the opening are correspondingly provided with a pair of fifth mounting holes, and the bottom is provided with a sixth mounting hole, and the sixth mounting hole and the fifth mounting hole are axially parallel.
  • the connecting block is arranged in the handle opening, and the sixth mounting hole at the bottom thereof is hinged with the third mounting hole;
  • the fifth installation hole is a coaxial seventh installation hole, and the fifth installation hole is hinged with the sixth installation hole;
  • the upper end of the thigh rod is provided with a plurality of first adjustment holes at intervals along the length direction, the thigh slot is provided with a first positioning hole, and the end of the adjustment rod of the third size adjustment module away from the connecting block is inserted into the first adjustment hole.
  • the size of the end of the adjusting rod away from the connecting block is adapted to the first positioning hole and any one of the first adjusting holes.
  • the fourth size adjustment module has the same structure as the third size adjustment module
  • the shank rod is provided with a plurality of second adjustment holes at intervals along the length direction, the shank socket is provided with a second positioning hole, and the end of the adjustment rod of the fourth size adjustment module away from the connecting block is fixed to the second positioning hole hole and any second adjustment hole.
  • control module is installed on the back support device, including a back plate, a switch cover, a second slider, a switch and an integrated control box;
  • the back plate and the integrated control box are buckled and installed, and the back plate is fixedly connected to the bionic spine at the side away from the integrated control box; a slot is arranged in the back plate, and the outer support rod is fixed in the slot of the back plate.
  • the upper end of the integrated control box is provided with a groove, the switch cover is set in the groove, and the switch cover is fixed to the outer support rod; the second slider is set inside the switch cover, and the outer wall of the switch cover is set There is a second chute; the switch is fixedly connected to the second sliding block from the second chute, and the switch is electrically connected to the integrated control box.
  • the hip joint also includes a load-bearing platform and two recovery springs;
  • the load-bearing platform is configured as a flat plate structure, and the flat plate structure is provided with an installation groove near the side of the hip connector, and both sides of the installation groove are provided.
  • a spring installation position is provided, and the recovery spring is arranged in the spring installation position; the bottom of the lower connecting piece is arranged in the installation groove, and the recovery spring, the installation groove and the lower connecting piece are integrally hinged through a hinge pin.
  • the active-passive switching wearable lower-limb weight-bearing exoskeleton disclosed by the present invention is used for assisting human weight-bearing walking, and includes a back support device, a hip joint, a hip joint drive module, a knee joint drive module, a control module, a thigh, and a lower leg.
  • the back support device, hip joint, thigh, calf, ankle joint and plantar device constitute the main body of the exoskeleton, and the hip joint drive module and the knee joint drive module are detachable from the main body connected, respectively used to drive the movement of the hip joint and knee joint of the main body;
  • the knee joint driving module is a knee joint active driving module or a knee joint passive driving module, and the hip joint driving module and the knee joint active driving module are electrically connected with the control module, and are controlled by The module controls the start and stop of the action;
  • the active-passive switchable wearable lower limb weight-bearing exoskeleton of the present invention can be fitted on the bodies of users of different sizes, increases wearing comfort, and provides reliable support and assistance.
  • the hip joint drive module and the knee joint drive module of the present invention are detachably connected to the main body, on the one hand, the structure of the lightweight exoskeleton can be simplified by replacing the hip and knee joint drive modes at any time, so as to ensure wearing comfort; on the other hand, it can be freely used according to actual use conditions Choose active and passive drive modules for hip and knee joints, which can always provide users with effective support and assistance under any working condition.
  • FIG. 1 is a schematic diagram of an exoskeleton structure provided by an embodiment of the present invention.
  • FIG. 2 is a schematic diagram of an exploded structure of an exoskeleton back support device provided by an embodiment of the present invention
  • FIG. 3 is a schematic diagram of an exploded structure of an exoskeleton control module provided by an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of an exploded structure of an exoskeleton-integrated waist pad provided by an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of an exploded structure of an exoskeleton size adjustment module provided by an embodiment of the present invention.
  • FIG. 6 is a schematic diagram of the exploded structure of an exoskeleton hip joint provided by an embodiment of the present invention.
  • Fig. 7 is the front schematic diagram of the disassembled structure of the exoskeleton hip joint provided by the embodiment of the present invention.
  • FIG. 8 is an exploded schematic diagram of an exoskeleton hip joint drive module provided by an embodiment of the present invention.
  • FIG. 9 is a schematic diagram of an exploded structure of an active drive module of an exoskeleton knee joint provided by an embodiment of the present invention.
  • FIG. 10 is a schematic diagram of an exploded structure of a passive drive module of an exoskeleton knee joint provided by an embodiment of the present invention.
  • FIG. 11 is a schematic diagram of the disassembled structure of the thigh part of the exoskeleton provided by an embodiment of the present invention.
  • FIG. 12 is a schematic diagram of the exploded structure of an exoskeleton calf leg provided by an embodiment of the present invention.
  • FIG. 13 is a schematic diagram of the exploded structure of an exoskeleton ankle joint provided by an embodiment of the present invention.
  • FIG. 14 is a schematic diagram of an active drive structure of an exoskeleton hip and knee provided by an embodiment of the present invention.
  • 15 is a schematic diagram of an active drive structure of an exoskeleton hip passive knee according to an embodiment of the present invention.
  • 16 is a schematic diagram of a passive drive structure of an exoskeleton hip active knee according to an embodiment of the present invention.
  • 17 is a schematic diagram of a passive drive structure of an exoskeleton hip and knee provided by an embodiment of the present invention.
  • 1-back support device 111-outer support rod, 112-inner support rod, 1131-upper connecting piece, 1132-connecting piece, 1133-lower connecting piece, 114-hip connecting piece, 1142-limiting slot, 1143 -Slot, 1144-1st Chute, 115-Backpack Holder, 116-Quick Release Pin; 12-Control Module, 121-Back Plate, 122-Switch Cover, 123-Second Slider, 124-Switch, 125-Integral 13-integrated strap; 14-integrated lumbar pad, 141-lumbar pad, 142-lumbar pad connecting plate; 15-size adjustment module, 151-handle, 152-fixed part, 153-spring, 154-base , 155-adjustment rod, 156-connection block; 2-hip joint, 211-rotation block, 2112-rotation groove, 212-step shaft, 2122-limit point, 213-first slider, 214-connection pin, 215 - waist rod, 216-
  • the weight-bearing exoskeleton structures used to support and assist the human body to avoid musculoskeletal strain are mostly single active drive mode, single passive drive mode or exoskeleton support to help reduce the burden of human musculoskeletal, and the hip joint and knee joint cannot be adjusted according to actual needs.
  • the power-assisted mode of the joints can be effectively changed between active power-assisted and passive power-assisted, resulting in that the exoskeleton cannot provide power-assisted support in some usage scenarios;
  • the present invention aims to provide a wearable lower-limb weight-bearing exoskeleton with active and passive switching, which can fit different Body type users can switch between the active and passive power-assisted driving modes of the hip and knee joints at any time in any use scenario, and always provide reliable power-assisted support.
  • the active-passive switching wearable lower limb exoskeleton shown in FIG. 1 includes a back support device 1, a hip joint 2, a hip joint drive module 22, a knee joint drive module, a control module 12, a thigh part 3, and a lower leg 4.
  • the ankle joint 5 and the sole device 52 wherein, the back support device 1, the hip joint 2, the thigh part 3, the lower leg part 4, the ankle joint 5 and the sole device 52 are sequentially connected from top to bottom to form a connection with the user.
  • the exoskeleton main body bound and connected by the human body, the control module 12, the hip joint driving module 22 and the knee joint driving module are detachably connected to the exoskeleton main body. In terms of detachable connection, the main structure of the exoskeleton is simplified and light.
  • the back support device 1 includes a support rod unit, a bionic spine, a hip connector 114, an integrated strap 13 and an integrated lumbar pad 14.
  • the support rod unit is arranged in the vertical direction, and the bionic spine is connected to the support rod.
  • the hip connector 114 is connected and arranged at the bottom of the bionic spine
  • the integrated strap 13 is connected and arranged on the side of the support rod unit
  • the integrated lumbar pad 14 is connected and arranged on the side of the hip connector 114
  • the integrated waist The pad 14 is installed on the same side as the integrated strap 13; the integrated strap 13 is used to connect with the back of the user's body when the exoskeleton is worn, and the integrated waist pad 14 is used to connect to the user's waist when the exoskeleton is worn.
  • the hip joint 2 is connected to the hip connector 114, including two pairs of symmetrical 217 disposed on the left and right sides of the hip connector 114 that can rotate relative to each other
  • the hip joint driving module 22 includes two, which are symmetrically arranged on the left and right sides of the hip connecting piece 114;
  • the hip joint driving module 22 is detachably connected to the hip joint 2 for driving
  • the second upper connecting piece 216 and the second lower connecting piece 217 disposed on the same side rotate relatively.
  • the thigh part 3 includes a pair of thigh slots 33, a pair of thigh rods 31 and a pair of knee joint outer devices 34 symmetrically arranged in the left-right direction; as shown in the figure, the thigh slots 33 are arranged in the vertical direction
  • the upper end of the thigh bar 31 is connected to the upper end of the thigh slot 33 along the vertical direction
  • the upper end of the thigh bar 31 is connected to the second lower connecting piece 217
  • the lateral device 34 of the knee joint is connected to the lower end of the thigh slot 33 .
  • the calf 4 includes a pair of calf slots 42, a pair of calf rods 43 and a pair of knee joint medial devices 41 symmetrically arranged in the left-right direction, wherein the calf slots 42 are arranged in the vertical direction,
  • the knee joint inner device 41 is vertically connected to the upper end of the lower leg slot 42, the lower leg rod 43 is connected to the lower end of the lower leg slot 42, and then the knee joint inner device 41 is hinged to the knee joint outer device 34 to form a knee joint.
  • the knee joint drive module is a pair of knee joint active drive modules 23 or a pair of knee joint passive drive modules 24 symmetrically arranged along the left and right directions;
  • the active drive module 23 includes a drive module 231 and a drive link 233 connected to the output end of the drive module 231.
  • the drive module 231 is detachably connected to the thigh portion 3, and the end of the drive link 233 away from the drive module 231 is connected to the The lower leg 4;
  • the knee joint passive drive module 24 includes a torque generator 241 and an end 242 fixed to the torque generator 241, the torque generator 241 is detachably connected to the thigh part 3, and the end 242 is away from the torque generator 241 The end is connected to the lower leg 4.
  • the ankle joints 5 include two, which are symmetrically arranged along the left and right directions, and are respectively connected to the lower leg 4 arranged on the same side as the ankle joint, including a 2DOF hinge structure connected to the lower leg rod 43 and a 2DOF hinge structure for measuring the plantar pressure.
  • a plantar pressure measuring device; the plantar device 52 includes two, which are respectively connected to the ankle joint 5 provided on the same side thereof, and are used to adjust and fix the human foot.
  • the control module 12 provided by the present invention is electrically connected to the hip joint driving module or the knee joint active driving module, and is used to control the hip joint driving module 22 or the knee joint active driving module 23 when the hip joint driving module 22 or the knee joint active driving module 23 is connected to the exoskeleton body.
  • the knee joint active drive module 23 starts and stops.
  • the support rod unit includes an outer support rod 111, an inner support rod 112 and a first size adjustment module; during assembly, the inner support rod 112 is inserted into the outer support rod 111, and the first size adjustment module is fixed to the outer support rod 111 and inner support rod 112 , and the first size adjustment module adjusts the length of the support rod unit along the vertical direction by adjusting the fixed positions of the outer support rod 111 and the inner support rod 112 .
  • the bionic spine and the inner support rod 112 are threadedly fixed.
  • the bionic spine includes an upper connecting piece 1131, a connecting piece group and a lower connecting piece 1133.
  • the hinge pin is connected; the upper end of the upper connecting piece 1131 of the bionic spine is connected to the bottom end of the inner support rod 112 through the hinge pin, and the lower end is hinged to the upper end of the connecting piece group, and the upper end of the lower connecting piece 1133 is hinged to the lower end and the lower end of the connecting piece group through the hinge pin.
  • the integrated strap 13 is fixedly connected to the bionic spine by means of threads.
  • the integrated strap 13 is provided with a backpack bracket 115 , and the backpack bracket 115 is fixedly connected to the outer support rod 111 via a quick-release pin 116 .
  • the integrated lumbar pad 14 includes a lumbar pad 141 and a lumbar pad connecting plate 142 fixed to the lumbar pad 141.
  • the lumbar pad 141 and the lumbar pad connecting plate 142 are fixed by threads, and the lumbar pad connecting plate 142 It is fixed to the hip connector 114 and is generally also fixed by means of threads.
  • the hip joint 2 further includes a pair of lumbar rods 215 , a pair of second size adjustment modules and two crossed roller bearings 2191 ; wherein the second size adjustment module and the lumbar rods 215 are respectively arranged symmetrically on both sides of the hip connector 114 along the left and right direction, the second size adjustment module is respectively connected to the hip connector 114 and one end of the waist rod 215 set on the same side, and the other end of the waist rod 215 is hinged on the same side with the waist rod 215.
  • the second upper connecting member 216; the second size adjusting module adjusts the width of the waist formed by the waist bar 215 and the hip connecting member 114 by adjusting the fixed position of the second size adjusting module and the hip connecting member 114, so as to adapt to the waist size of users with different body shapes.
  • the crossed roller bearings 2191 are respectively installed in the lower connecting piece 217 on the left and right sides, and the outer ring of the crossed roller bearing 2191 is fixed to the lower connecting piece 2. 217, the inner ring of the crossed roller bearing 2191 is fixedly connected to the second upper connecting piece 216.
  • a limit surface 2174 is provided on the side of the second connecting member 217 close to the upper connecting member 216. The position surface 2174 is attached to the side of the upper connecting piece 216 close to the second connecting piece 217 , and is used to limit the backswing angle of the hip joint 214 to fit the backswing angle of the real human body.
  • the second size adjustment module includes a rotating block 211 , a stepped shaft 212 , a first sliding block 213 , a connecting pin 214 , a deep groove ball bearing 2192 , a washer 2193 and a thumb screw
  • the hip connector 114 is set to a flat-plate structure, and a pair of first chute 1144 with a counterbore structure is symmetrically arranged along the left-right direction on the side plate surface close to the human body after wearing, and the first slider 213 is installed In the first chute 1144, it can slide along the first chute 1144; a pair of limit slots 1142 corresponding to the positions of the first chute 1144 are provided on the side plate of the hip connector 114 away from the human body after being worn.
  • the limiting slot 1142 extends along the left-right direction, and the limiting slot 1142 is provided with a number of limiting notches along the extending direction; a slot is provided between the first chute 1144 corresponding to the position on the hip connector 114 and the limiting slot 1142 1143, the slot 1143 passes through the first chute 1144 and the limit slot 1142; the rotating block 211 is arranged on the side of the hip connector 114 away from the human body, and the rotating block 211 is provided with a rotating groove 2112 that penetrates the rotating block 211, and the rotating groove 2112 is connected to the Slot 1143; the stepped shaft 212 is arranged between the hip connector 114 and the rotating block 211, the deep groove ball bearing 2192 and the washer 2193 are sleeved on the stepped shaft 212 and inserted into the rotating groove 2112; the stepped shaft 212 is away from the end face of the rotating block 211 A limit point 2122 is set on the upper part, the limit point 2122 is engaged with the limit groove 1142 on the hip
  • the hip joint drive module 22 includes a motor frame cover 221 , a drive motor 222 , a motor frame 223 and a D-shaped shaft 224 , wherein the motor frame cover 221 is fixedly connected to the motor frame 223 , and the motor frame cover 221 and the motor frame 223 form an installation chamber that is opened from the side of the motor frame 223 away from the motor frame cover 221, the drive motor 222 is fixed in the installation chamber, and the output end of the drive motor 222 is connected to the D-shaped shaft from the opening of the installation chamber 224;
  • the motor frame 223 is provided with a tenon 2232 along the outer edge of the opening of the installation chamber, and the tenon 2232 extends to the outside of the opening of the installation chamber;
  • the second connecting piece 217 is connected to the first through hole of the second connecting piece 216, and the second connecting piece 217 is provided with a tenon sliding groove 2173 on the side away from the second connecting piece 216; the motor frame 223
  • a first boss 2233 is provided on the outer wall of the motor frame 223, and a second boss 2172 is also set on the outer wall of the lower connecting piece 217.
  • the motor frame 223 and the second lower connecting member 217 are fixed to realize the fixing of the hip joint drive module 22 on the hip joint 2 .
  • the thigh part 3 also includes a pair of third size adjustment modules 15 , a pair of thigh binding plates 36 and a pair of thigh shells 37 symmetrically arranged along the left and right directions; the third size adjustment module 15 is installed between the thigh slot 33 and the thigh rod 31 provided on the same side, and is connected to the thigh slot 33 and the thigh rod 31 respectively; Concretely, a fixing piece 32 is fixed on the thigh slot 33 with threads, and the third size is adjusted The module 15 is threadedly fixed with the fixing piece 32 on the thigh slot 33 to realize the fixation with the thigh slot 33 .
  • the third size adjusting module 15 adjusts the length of the thigh part 3 along the vertical direction by adjusting its fixed position with the thigh slot 33 .
  • the third size adjustment module 15 includes a handle 151, a fixed portion 152, a spring 153, a base 154, an adjustment rod 155 and a connecting block 156; specifically, the handle 151 is set to have a U-like cross section along its length direction
  • the base 154 is set as a first U-shaped structure with the opening facing the inside of the handle 151-like U-shaped structure, and the two side walls of the first U-shaped structure of the base 154 and the two side walls of the handle 151-like U-shaped structure adopt fixing parts 152 is hinged, and the fixed part 152 adopts a hinge pin;
  • the spring 153 is sleeved on the part of the hinge pin located in the first U-shaped structure of the base 154 in a coaxial manner;
  • the second U-shaped structure opposite to the opening of the base 154, the bottom of the second U-shaped structure of the connecting block 156 is hinged with the two side walls of the U-shaped structure of the handle 151; the end of the adjusting
  • the upper end of the thigh rod 31 is provided with a plurality of first adjustment holes at intervals along the length direction, the thigh slot 33 is provided with a first positioning hole, and the adjustment rod 155 is adapted to the first positioning hole and the first adjustment hole; the third size adjustment during fixing
  • the end of the adjustment rod 155 of the module 15 away from the connection block 156 is adapted to be inserted into the first positioning hole and any one of the first adjustment holes, so as to adjust the length of the thigh part 3 for users of different heights to wear.
  • the adjusting rod 155 When it is necessary to adjust the height, the adjusting rod 155 is pulled out through the connecting block 156 by lifting the handle 151 on the outside of the leg, and then the adjusting rod 155 is fitted and inserted after selecting the new first positioning hole and the first adjusting hole; After adjustment, the handle 151 continues to fit on the outer surface of the leg under the action of the spring 153 .
  • the lower end of the lateral device 34 of the knee joint close to the calf 4 is configured as an arc-shaped transition structure, and the arc-shaped transition structure is provided with a second through hole along the left-right direction, and Both sides of the arc-shaped transition structure along the left and right directions are respectively provided with a knee joint limit piece 35, and the knee joint limit piece 35 is attached to the side surface of the arc-shaped transition structure for restricting the knee joint outer device 34 and the knee joint inner device 41. angle of rotation.
  • the thigh binding plate 36 is hinged to the thigh slot 33 provided on the same side, and is located at the thigh slot 33 close to the human body side, and is used to be fixedly connected to the human thigh through the binding belt; the thigh shell 37 is fixed to the thigh slot 33, The thigh slot 33 is located on the side away from the human body, and is used to shield the parts of the thigh part 3 from the outside of the exoskeleton, so as to improve the overall appearance of the thigh part 3 .
  • the knee joint limiting piece 35 is screwed to the knee joint outer device 34, the knee joint outer device 34 and the thigh slot 33 are positioned with double pins, and then fixed by screws; the thigh binding plate 36 is connected to the thigh slot through a hinge pin. 33 is fixed, and the thigh shell 37 is screwed to the thigh slot 33 .
  • the thigh slot 33 will be further installed with a node board and an IMU sensor.
  • the knee joint active drive module 23 further includes a second motor frame 232, the second motor frame 232 is fixed to the thigh slot 33; the drive module 231 is fixed to the second motor frame 232, the output end of the drive module 231 is hinged to the drive link 233; specifically, the second motor frame 232 is installed in the preset fixing slot 332 on the thigh slot 33, and the knee joint active drive module 23 and thigh 3.
  • the torque generator 241 and the end head 242 are threadedly fixed, and the end of the torque generator 241 away from the end head 242 is provided with a first installation hole 2412, and the first installation hole is connected to the thigh slot through an adapter. 33.
  • the adapter adopts a structure such as a hand-tightened threaded pin.
  • a special fixing frame 38 is provided on the thigh slot 33 , and the first installation hole is connected to the fixing frame 38 by screwing a threaded pin by hand.
  • the lower leg portion 4 further includes a pair of fourth size adjustment modules symmetrically arranged in the left-right direction, a pair of lower leg binding plates 46 , a pair of lower leg inner shells 45 , a pair of lower leg outer shells 44 and A pair of anchor points 47; wherein, the fourth size adjustment module has the same structure as the third size adjustment module 15, and the fourth size adjustment module is fixedly connected to the calf slot 42 and the calf rod 43 provided on the same side, and the calf slot 42 is adjusted by adjusting the calf slot 42.
  • the calf rod 43 is provided with a plurality of second adjustment holes at intervals along the length direction
  • the calf slot 42 is provided with a second positioning hole
  • the end of the adjustment rod of the four-size adjustment module away from the connection block is fixedly connected with the second positioning hole and any second adjustment hole, so as to realize the adjustment of the length of the lower leg 4 so as to adapt to the height of different users.
  • the upper end of the inner knee device 41 away from the calf slot 42 is provided with an installation slot, and the installation slot is adapted to the arc transition structure at the lower end of the outer knee device 34 arranged on the same side, and the installation slot is along the left and right sides.
  • the two side walls of the direction are provided with a third through hole corresponding to the second through hole, and the third through hole and the second through hole are connected by a hinge pin to form a knee joint that can rotate around the hinge pin.
  • the calf binding plate 46 is hinged to the inner knee device 41 and the calf slot 42 respectively, and is located on the side of the inner knee joint 41 and the calf slot 22 close to the human body, and is used for fixing the lower leg of the human body through the binding belt.
  • the calf inner shell 45 is fixed to the calf slot 42 and is located below the calf binding plate 46; the calf outer shell 44 is respectively fixed to the knee joint inner device 41 and the calf inner shell 45, and the calf outer shell 44 is away from the calf slot 42 from the side cover of the human body It is arranged outside the knee joint inner device 41 , the calf slot 42 and the calf inner shell 45 , and shields the internal parts of the calf 4 from the outside of the exoskeleton, improving the overall appearance of the calf 4 .
  • the anchor points 47 are respectively arranged on the two knee joint medial devices 41 on the left and right sides, and are used for fixing the end of the driving link 233 away from the driving module 231 or the fixing end 242 away from the torque generator by screwing the threaded pin 48 by hand. 241 at the end.
  • the role of the anchor point 47 is to provide a fixing point for the drive link 233 and the end 242.
  • the drive link 233 and the end 242 are directly fixed with the knee joint medial device 41, or other transfer structures are used.
  • the fixation with the inner device 41 of the knee joint can be realized, and the function of driving the lower leg 4 can also be realized; that is, the structure of the anchor point 47 can be freely assembled according to the implementation situation.
  • the calf binding plate 46 is fixed with the knee joint inner device 41 and the calf slot 42 through the hinge pin, the calf shell 44, the anchor point 47 and the knee joint inner device 41 are threadedly fixed, and the inner side of the knee joint is threaded.
  • the device 41 and the calf slot 42 are positioned with double pins, they are fixed by threads; the fourth size adjustment module, the calf inner casing 45 and the calf slot 42 are threadedly fixed; the calf outer casing 44 and the calf inner casing 45 are threadedly fixed.
  • a mounting groove 412 for mounting the gusset plate and the IMU sensor is preset on the knee joint inner device 41 , and the gusset plate and the IMU sensor are screwed to the mounting groove 412 .
  • the knee joint inner device 41 is also installed with a bearing and a wire protector.
  • the 2DOF hinge structure includes a lower leg connecting rod 511 , a rotating hinge 512 , a foot side support block 513 and a support block shell 514 ; wherein, the lower leg connecting rod 511 is arranged in the vertical direction, and the upper end of the lower leg connecting rod 511 It is fixed to the calf rod 43, and the lower end is hinged to the rotating hinge 512 along the left-right or front-rear direction; the rotating hinge 512 is arranged above the foot-side support block 513, and its lower end is hinged with the foot-side support block 513 along the front-rear or left-right direction; the support block shell The cover 514 is arranged on the outside of the foot side support block 513 and is fixed with threads; the lower leg connecting rod 511 has the freedom of rotation relative to the foot side support block 513 in the medial/abduction and flexion/curvature directions.
  • the plantar pressure measurement is set to a plantar pressure measurement piece 515, the plantar pressure measurement piece 515 is fixed to the foot side support block 513, and is generally fixed by a thread, and its measurement surface is located above the sole device; the plantar pressure measurement piece 515 has The degree of freedom of elastic deformation to make the measurement surface fit to the upper surface of the sole device 52 .
  • the sole device 52 includes a supporting steel sheet 521, a rubber pad 522 and a fifth size adjustment module; specifically, the supporting steel sheet 521 is inserted into the rubber pad 522 along the horizontal direction, and the supporting steel sheet 521 and the rubber pad 522 are formed together
  • the sole located at the bottom of the foot side support block 513; the support steel sheet 521 is fixed to the foot side support block 513 by means of threads, and the measurement surface of the sole pressure measurement sheet 515 is located above the rubber pad 522;
  • the fifth size adjustment module includes the energy buckle 523 and Nylon toothed belt 524, the energy buckle 523 is fixed to the rubber pad 522, if it is fixed by thread, one end of the nylon toothed belt 524 is fixed to the foot side support block 513 with a thread, and the other end enters and exits the energy buckle 523 to realize the support for the sole and the foot side Fixation and size adjustment between blocks 513.
  • the deformation signal of the plantar pressure measuring piece 515 can be converted to obtain the current stepping pressure of the user. for product testing.
  • the control module 12 is installed on the back support device 1, is detachably connected to the back support device 1, and can be disassembled and assembled according to user needs, including the back plate 121, the switch cover 122, the first Two sliders 123, a switch 124 and an integrated control box 125; the specific structure is: the back plate 121 is screwed to the bionic spine, the back plate 121 is installed away from the bionic spine side and the integrated control box 125, and the back plate 121 is installed inside the back plate 121.
  • the outer support rod 111 is fixed in the slot of the backplane 121, and is fixed with the backplane 121 by threads;
  • a groove is provided on the upper end of the integrated control box 125, the switch cover 122 is set in the groove, and the switch The outer cover 122 is fastened to the outer support rod 111 by threads;
  • the second sliding block 123 is arranged inside the switch outer cover 122, the outer wall of the switch outer cover 122 is provided with a second sliding groove, and the switch 124 is fixedly connected to the second sliding block from the second sliding groove, And fixed with thread.
  • the switch 124 is electrically connected to the integrated control box 125 to realize the electrical control of the control module 13 .
  • an auxiliary carrying unit is further installed on the hip joint 2, and the auxiliary carrying unit includes a load-bearing platform 218 and a recovery spring 2194;
  • a flat plate structure the side of the flat plate structure close to the hip connector 114 is provided with a mounting groove that is recessed towards the interior of the flat plate, both sides of the mounting groove are provided with a spring mounting position, the recovery spring 2194 is arranged in the spring mounting position, and the recovery spring 2 is in the Compressed state;
  • the bottom of the lower connecting piece 1133 is arranged in the installation groove, and is integrally hinged with the recovery spring 2 and the installation groove through a hinge pin. The hinge effect enables the load-bearing platform 218 to be retracted to a state of being fitted with the lower connecting piece 1133 under the action of the recovery spring 2 when not in use, without increasing the external volume of the exoskeleton.
  • the first size adjustment module and the fourth size adjustment module adopt the same structure as the third size adjustment module 15; in the support rod unit, the first size adjustment module is threadedly fixed to the outer support rod 111 , the outer support rod 111 and the inner support rod 112 are respectively provided with a number of adjustment holes, and the adjustment rod in the first size adjustment module fixes the outer support rod 111 and the inner support rod 111 and the inner support rod through the adjustment holes for fixing the outer support rod 111 and the inner support rod 112 112, replace the fixed adjustment hole, and realize the adjustment of the length of the support rod unit.
  • the back support device 1 is connected to the hip joint 2
  • the control module 12 is detachably fixed to the back support device 1
  • the integrated strap 13 is fixed to the back support device 1
  • the integrated waist pad 4 is fixed to the hip joint 2
  • the hip joint drive module 22 is connected with the hip joint 2, and can be disassembled and assembled according to the needs of the user;
  • the joint 5 is fixed, and the ankle joint 5 is connected to the plantar device 52 .
  • the knee joint active drive module 23 is respectively connected with the thigh part 3 and the lower part 4, and can be disassembled and assembled according to the needs of the user; the knee joint passive drive module 24 is respectively connected with the thigh part 3 and the lower part 4, and It can be disassembled and assembled according to the needs of users.
  • the key point of the present invention is that the exoskeleton can be arbitrarily disassembled, assembled and replaced according to the actual needs of the user, and the hip joint drive module 22, the knee joint active drive module 23, and the knee joint passive drive module 24 can be actively or passively driven.
  • the exoskeleton can select the active driving mode of the hip and knee joint according to the actual use situation; including: 1) the active driving mode of the hip and knee joint; 2) the active driving mode of the knee joint without the driving of the hip joint; 3) The hip joint is actively driven, and the knee joint is passively driven; 4) The hip joint is not driven, and the knee joint is passively driven.
  • the hip joint 2 of the exoskeleton When the hip joint 2 of the exoskeleton is in the active driving mode, the upper connecting piece 216 and the second connecting piece 217 are relatively rotated by the hip joint driving module 22 to realize active driving; when the knee joint of the exoskeleton is in the active driving mode, the knee joint
  • the active drive module 23 makes a relative change of the angle between the thigh 3 and the lower leg 4 to realize active driving; when the knee joint of the exoskeleton is in the passive drive mode, the human leg bends to drive the thigh 3 and the lower leg of the exoskeleton 4 are bent together, and the torque generator 241 stores the capacity at the same time.
  • the torque generator 241 releases energy and generates a flexion and extension torque, providing a boosting effect for the human body.

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  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Rehabilitation Tools (AREA)

Abstract

Exosquelette de support de charge de membre inférieur pouvant être porté, commutable, actif et passif, se rapportant au domaine des dispositifs médicaux, et comprenant un appareil de support de dos (1), une articulation de la hanche (2), un module d'entraînement de l'articulation de la hanche (22), un module d'entraînement de l'articulation du genou, un module de commande (12), une partie cuisse (3), une partie mollet (4), une articulation de cheville (5) et un appareil de semelle (52) ; l'appareil de support de dos (1), l'articulation de la hanche (2), la partie cuisse (3), la partie mollet (4), l'articulation de la cheville (5) et l'appareil de semelle (52) constituent le corps principal de l'exosquelette, le module d'entraînement de l'articulation de la hanche (22) et le module d'entraînement de l'articulation du genou étant reliés de manière amovible au corps principal, et étant utilisés pour entraîner l'articulation de la hanche (2) et l'articulation du genou du corps principal pour se déplacer ; le module d'entraînement de l'articulation du genou est un module d'entraînement actif de l'articulation du genou (23) ou un module d'entraînement passif de l'articulation du genou (24), et les actions du module d'entraînement de l'articulation de la hanche (22) et du module d'entraînement actif de l'articulation du genou (23) sont commandées par le module de commande (12). Les modes d'entraînement de l'articulation de la hanche et du genou peuvent être commutés librement sur la base de l'utilisation réelle de l'exosquelette, pour rendre la structure de l'exosquelette compacte et légère afin de s'adapter au port par des utilisateurs de différents types corporels, augmenter le confort de port et fournir un soutien et une aide fiables.
PCT/CN2021/083485 2021-03-29 2021-03-29 Exosquelette de support de charge de membre inférieur pouvant être porté, commutable, actif et passif WO2022204843A1 (fr)

Priority Applications (1)

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PCT/CN2021/083485 WO2022204843A1 (fr) 2021-03-29 2021-03-29 Exosquelette de support de charge de membre inférieur pouvant être porté, commutable, actif et passif

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PCT/CN2021/083485 WO2022204843A1 (fr) 2021-03-29 2021-03-29 Exosquelette de support de charge de membre inférieur pouvant être porté, commutable, actif et passif

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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070123997A1 (en) * 2005-03-31 2007-05-31 Massachusetts Institute Of Technology Exoskeletons for running and walking
US20150351995A1 (en) * 2012-12-11 2015-12-10 Ekso Bionics, Inc. Reconfigurable Exoskeleton
CN106078702A (zh) * 2016-08-23 2016-11-09 哈尔滨工业大学 一种轻型化主被动结合的下肢助力外骨骼机器人
CN110575366A (zh) * 2019-09-19 2019-12-17 哈尔滨工业大学 一种主被动结合的下肢助力外骨骼机器人
CN110900569A (zh) * 2019-12-04 2020-03-24 迈宝智能科技(苏州)有限公司 刚柔混合外骨骼
CN111070187A (zh) * 2019-12-31 2020-04-28 武汉大学 一种主被动结合的变瞬心柔性绳驱下肢外骨骼机器人及控制方法
CN112060060A (zh) * 2020-09-22 2020-12-11 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

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070123997A1 (en) * 2005-03-31 2007-05-31 Massachusetts Institute Of Technology Exoskeletons for running and walking
US20150351995A1 (en) * 2012-12-11 2015-12-10 Ekso Bionics, Inc. Reconfigurable Exoskeleton
CN106078702A (zh) * 2016-08-23 2016-11-09 哈尔滨工业大学 一种轻型化主被动结合的下肢助力外骨骼机器人
CN110575366A (zh) * 2019-09-19 2019-12-17 哈尔滨工业大学 一种主被动结合的下肢助力外骨骼机器人
CN110900569A (zh) * 2019-12-04 2020-03-24 迈宝智能科技(苏州)有限公司 刚柔混合外骨骼
CN111070187A (zh) * 2019-12-31 2020-04-28 武汉大学 一种主被动结合的变瞬心柔性绳驱下肢外骨骼机器人及控制方法
CN112060060A (zh) * 2020-09-22 2020-12-11 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

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