WO2023193464A1 - 脚踝辅助外骨骼支架 - Google Patents

脚踝辅助外骨骼支架 Download PDF

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Publication number
WO2023193464A1
WO2023193464A1 PCT/CN2022/138032 CN2022138032W WO2023193464A1 WO 2023193464 A1 WO2023193464 A1 WO 2023193464A1 CN 2022138032 W CN2022138032 W CN 2022138032W WO 2023193464 A1 WO2023193464 A1 WO 2023193464A1
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WO
WIPO (PCT)
Prior art keywords
bracket
support
heel
user
human
Prior art date
Application number
PCT/CN2022/138032
Other languages
English (en)
French (fr)
Inventor
丁也
B普洛透斯
李辛慧
孙涛
王灿
Original Assignee
远也科技（苏州）有限公司
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Filing date
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Application filed by 远也科技（苏州）有限公司 filed Critical 远也科技（苏州）有限公司
Publication of WO2023193464A1 publication Critical patent/WO2023193464A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • 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
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0214—Stretching or bending or torsioning apparatus for exercising by rotating cycling movement
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0266—Foot
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot

Definitions

  • the present invention relates to the technical field of wearable devices, and in particular, to an ankle auxiliary exoskeleton bracket that provides auxiliary force for a user's ankle and can be used daily.
  • wearable devices for lower limbs are designed for different purposes, including wearable devices that enhance human strength, provide rehabilitation training, improve mobility efficiency, and reduce human energy consumption.
  • wearable lower limb devices or exoskeletons often rely on full-leg rigid metal structures to provide external body support.
  • These lower limb exoskeleton systems enable able-bodied people or people with physical disabilities to perform tasks that would be impossible using their own strength.
  • the existing patent No. 201380064944.9 discloses a rigid exoskeleton bracket.
  • the structure of the bracket provides a bracket structure in which thigh links, calf links, and foot links cooperate with the human body.
  • existing rigid wearable devices have the following shortcomings in coordinating human actions and improving movement efficiency: (1) Interference between the device and biological joints occurs due to misalignment of device joints with human joints during movement. ; (2) The degree of freedom of movement of biological joints is restricted because the degree of freedom of the equipment is less than that of the joints of the human lower limbs; (3) Due to the large weight and inertia that are not fully controlled and compensated by the device itself, the user is When wearing a device, additional energy consumption is required to drive some devices. At the same time, the heavier and larger equipment structure also makes it difficult for such full-leg rigid exoskeleton equipment to be used in daily life scenarios.
  • some flexible exoskeleton devices are made of lightweight flexible materials to reduce constraints on biological joints and provide joint assistance. Such devices present a lighter solution for assisting joints. But these flexible exoskeleton devices rely on the user's skin surface to provide tangential force as a reaction force to assist the assist joint. That is, these devices provide auxiliary force to the user's limb joints on one side, and exert tangential forces tangential to the skin surface on the other side. These tangential forces cause the user's skin surface to be rubbed. , squeezing, and thereby causing discomfort to the user. Moreover, when the user's skin is loose and the muscle stiffness is insufficient, making it difficult to provide a large enough tangential force as the reaction force of the auxiliary force, these devices will not be able to provide sufficient auxiliary force.
  • the purpose of the present invention is to provide an ankle auxiliary exoskeleton bracket that is lightweight, does not restrict the freedom of the user's joints, and better matches the human body.
  • the invention provides an ankle auxiliary exoskeleton bracket, which includes an upper bracket and a lower bracket; the lower end of the upper bracket is rotatably connected to the rear end of the lower bracket, and the upper bracket is fixed to the lower leg of the human body through a connecting belt.
  • the upper end of the upper bracket is located on the inner and outer sides of the human calf and below the knee; the lower bracket is set on the human foot to provide assistance for the dorsiflexion and plantar flexion movement of the human foot;
  • the upper bracket includes a body.
  • a pair of upper inner and outer brackets with curvature extend upward and outward from the upper end of the body.
  • a pair of lower inner and outer brackets with curvature extend downward and outward from the lower end of the body.
  • the upper bracket Forming an X-shaped bracket structure with curved curvature.
  • the bending curvature of the upper bracket is defined as follows: the maximum curvature point is located on the body, the upper end points of the upper inner and outer brackets are located at the middle and rear position of the inner and outer sides of the calf when the user wears it; The lower end point of the lateral bracket is located at the user's ankle joint position or on the axis of the degree of freedom of dorsiflexion and plantar flexion when the user uses it.
  • the upper bracket is integrally formed, and its curvature is: the distance from the lowermost end to the uppermost end of the upper bracket is 20cm-50cm, preferably 30cm-40cm, and more preferably 36cm; the middle part of the body The distance from the straight line connecting the uppermost end and the lower end is 5cm-15cm, preferably 8cm-12cm, and more preferably 10cm.
  • the lower bracket includes a front inner and outer support arm and a heel support arm.
  • the heel support arm is in a U shape matching the shape of the human heel. The two ends of the U shape are connected to the front inner and outer support arms.
  • the intersection point of the heel support arm and the front inner and outer support arms is the connection point between the lower bracket and the upper bracket, forming the joint rotation part of the exoskeleton bracket.
  • the lower bracket includes a foot strap, and the two ends of the foot strap are respectively fixedly connected to the front and inner support arms of the lower bracket, and are located on the instep of the human body to support, position, and fix the user's feet.
  • the front end of the front and inner and outer support arms of the lower bracket each extends a thin convex support piece inward, which is located on the sole of the user's shoe to support, position and fix the user's foot, and when the lower bracket rotates and swings upwards and downwards , respectively providing upward support thrust to the user's feet and downward pressure to the ground.
  • the lower bracket further includes a heel strap located under the heel of the human body.
  • the heel strap is in the shape of a sheet, and its two ends are connected to the rear positions of the front, inner and outer support arms or to the The U-shaped two ends of the heel support arm may be connected to the connection between the heel support arm and the front inner and outer support arms.
  • a baffle extends downward from both ends of the U-shape of the heel support arm, and the heel strap is connected to the lower ends of the two baffles.
  • Another preferred solution is that it also includes a heel connection cover extending downward from the center point of the heel support arm and including a U-shaped thin plate that abuts the sole of the user's heel.
  • the rotating part realizes the relative free rotation and reset of the upper and lower brackets, and includes an outer bearing seat, a torsion spring, an inner bearing seat, a bearing, and a bearing cover; the outer bearing seat is fixed to the upper bracket.
  • the torsion spring, inner bearing seat, bearing, and bearing cover are installed in sequence between the inside of the lower end of the upper bracket and the lower bracket.
  • the body of the upper bracket is provided with an installation portion for installing and fixing the traction cable; and the heel support arm of the lower bracket is provided with an installation portion for installing and fixing the traction cable.
  • the present invention reduces the height of the overall structure of the bracket, and better cooperates with the human body. There are no parts on the side of the human body's calf, which reduces the possibility of collision, does not affect other activities when worn, and enhances It improves the wearing experience and comfort.
  • the upper bracket of the X structure of the present invention is integrally formed, which reduces the connection between the components and improves the strength of the overall structure; at the same time, the upper and lower inner and outer brackets can be made thinner and smaller, so as to withstand the force. , reducing materials, weight, and costs; at the same time, the X-shaped structure is symmetrical, and the force generated on the bracket and the assistance provided by the bracket are symmetrical, achieving a better balanced assistance effect.
  • the traction cables and/or transmission lines of the exoskeleton equipment are connected and fixedly positioned through the body of the X structure, so that the traction cables and/or transmission lines are located behind the calf, which improves the structural compactness and simplicity of the overall exoskeleton support.
  • Figure 1 is a schematic perspective view of an ankle auxiliary exoskeleton bracket in one embodiment of the present invention
  • Figure 2 is an exploded schematic diagram of a partial structure of the exoskeleton scaffold shown in Figure 1;
  • Figure 3 is a schematic diagram showing the distance between the connection points of the traction cables of the ankle auxiliary exoskeleton bracket and the lower bracket in one embodiment of the present invention
  • Figure 4 is a schematic diagram of the leg strap of the ankle auxiliary exoskeleton support in one embodiment of the present invention.
  • Figure 5 is a three-dimensional schematic diagram of the use state of the leg straps of the ankle auxiliary exoskeleton support in Figure 4;
  • Figure 6 is a schematic diagram of a protective pad for leg straps in one embodiment of the present invention.
  • Figure 7 is a schematic diagram of the foot strap of the ankle auxiliary exoskeleton bracket in one embodiment of the present invention.
  • Figure 8 is a three-dimensional exploded schematic view of the cable installation portion of the upper bracket in an embodiment of the present invention.
  • Figure 9 is a three-dimensional exploded schematic view of the cable installation portion of the lower bracket in an embodiment of the present invention.
  • Figure 10 is a schematic diagram of various reaction forces generated during the use of the ankle auxiliary exoskeleton support in the present invention.
  • Figure 11 is a partially enlarged and exploded schematic view of one end of the torsion spring and the lower bracket fixing structure in Figure 2;
  • Figure 12 is a partially enlarged and exploded schematic view of the other end of the torsion spring and the upper bracket fixing structure in Figure 2;
  • Figure 13 is a partially enlarged and exploded schematic view of the fixing structure of the inner bearing seat and the upper bracket in Figure 2.
  • the directions of up, down, left, right, front and back mentioned in the present invention are based on the up, down, left, right, front and back directions of the human body.
  • the inner and outer directions are based on the inner and outer directions of the human body's legs.
  • the ankle exoskeleton bracket of the present invention is suitable for wearable devices that assist in the rehabilitation of lower limb motor functions and is light in weight.
  • the ankle exoskeleton bracket includes: an upper bracket 10 and a lower bracket 20 , leg strap 30, foot strap 40, heel connection cover 50, heel strap 60.
  • the lower end of the upper bracket 10 is rotatably connected to the rear end of the lower bracket 20.
  • the upper end of the upper bracket 10 is connected to the leg strap 30.
  • the leg strap 30 is worn on the human calf
  • the upper bracket is fixed on the human calf. superior.
  • the foot strap 40 is connected to the front end of the lower bracket 20. The foot strap 40 is worn on the human foot when in use.
  • the heel strap 60 is connected to the rear end of the lower bracket 20.
  • the heel strap 60 is located below the human heel in use.
  • the upper bracket 10 and the lower bracket 20 assembly are worn on the lower limbs of the human body through the leg straps 30, the foot straps 40 and the heel straps 60.
  • the upper bracket 10 includes a body 11. A pair of upper inner and outer brackets 121 and 122 with curvature extend upward and outward from the upper end of the body. A pair of lower inner brackets 121 and 122 with curvature extend downward and outward from the lower end of the body 11. , outer brackets 131, 132, and the upper bracket 10 forms an X-shaped bracket structure. The ends of the upper inner and outer brackets 121 and 122 are provided with upper connection portions (not numbered) connected to the leg straps 30 , and the ends of the lower inner and outer brackets 131 and 132 are provided with lower connections connected to the lower bracket 20 Department 134. In a preferred solution, the X-shaped upper bracket 10 is an integrally formed structure and is made of lightweight carbon fiber.
  • the upper bracket 10 has a non-linear shape and is arranged in a curved shape with a certain curvature bent toward the direction of the human body's calf.
  • the bending arc of the upper bracket 10 is defined as follows: the maximum curvature point is located at the position of the body 11, and the upper end points of the upper inner and outer brackets 121 and 122 are located at the middle and back position of the inner and outer sides of the calf when worn by the user.
  • This position setting point It is better to choose a position that avoids collision between the outside and the bracket when the user uses it and is not affected when bending the legs; the lower end points of the lower inner and outer brackets 131 and 132 are located at the user's ankle joint or at the user's ankle joint when the user is using it.
  • the degrees of freedom of dorsiflexion and plantarflexion are on the axis.
  • the distance from the lowermost end to the uppermost end of the upper bracket 10 is 20cm-50cm, preferably about 30cm-40cm, and more preferably 36cm; connect the uppermost end and the lower end, and the middle part of the rear X-shaped body 11 is separated from this line
  • the distance between the connecting lines is 5cm-15cm, preferably 8cm-12cm, and more preferably 10cm.
  • the upper bracket 10 of the X structure in the present invention is integrally formed to reduce the connections between the components and improve the strength of the overall structure; at the same time, the upper and lower inner and outer brackets can be made thinner and smaller to achieve the same goal. It can withstand force, reduce materials, reduce weight, and reduce costs; at the same time, the X-shaped structure is symmetrical, and the force generated on the bracket and the assistance provided by the bracket are symmetrical, achieving a better balanced assistance effect.
  • the body 11 at the intersection of the upper bracket 10 of the X structure provides a mounting and fixing platform for other components such as traction cables and/or transmission lines, sensors, processors, controllers and other components.
  • the traction cables and/or transmission lines of the skeletal equipment are connected and fixedly positioned through the body 11 of the X structure, so that the traction cables and/or transmission lines are located behind the calf, making the structure of the overall exoskeleton frame more compact and concise.
  • the lower bracket 20 includes front inner and outer support arms 201, 202 and a heel support arm 203.
  • the heel support arm 203 is U-shaped to match the shape of the human heel. The two ends of the U shape are in contact with the front inner and outer support arms 201, 202. The back end is connected.
  • the intersection point of the front inner and outer support arms 201, 202 and the upper bracket 134 is the connection point between the lower bracket 20 and the upper bracket 10, which is the joint rotation part 80 of the exoskeleton bracket.
  • the rotating part 80 realizes the relative free rotation movement and reset of the upper and lower brackets 10 and 20, and includes an outer bearing seat 81, a torsion spring 82, an inner bearing seat 83, a bearing 84, and a bearing cover 85.
  • the installation sequence is as follows: the outer bearing seat 81 is fixed on the outside of the mounting hole at the lower end of the upper bracket 10, the torsion spring 82, the inner bearing seat 83, the bearing 84, and the bearing cover 85 are sequentially installed on the mounting hole and the lower end of the upper bracket 10. between the mounting holes of the bracket 20.
  • the outer bearing seat 81, inner bearing seat 83, bearing 84, and bearing cover 85 assemble the upper and lower brackets 10 and 20 together to achieve relative free rotation of the upper and lower brackets.
  • the inner bearing seat 83 is provided with a protrusion 831
  • the lower end connecting portion 134 of the upper bracket 10 is provided with a protrusion 831 limiting groove 1341.
  • the movement of the protrusion 831 in the limit groove 1341 limits the rotation of the upper and lower brackets 10 and 20 within a certain range.
  • the limit groove 1341 limits the movement of the protrusion 831 within a certain range, thereby achieving adjustment and control of the lower bracket 20 It rotates within the rotation range of the human ankle joint to protect the human ankle joint.
  • the connecting portion of the lower bracket 20 is provided with a torsion spring slot 821, and the lower connecting portion 1341 of the upper bracket 10 is provided with a torsion spring slot 822.
  • the two ends of the torsion spring 82 are respectively fixed to the upper and lower brackets. In the torsion spring slots 822 and 821 of the connecting part.
  • the inner bearing seat 83 is provided with a fixing groove 832 on the other side opposite to the side provided with the protrusion 831 for fixing the bending angle of one end of the torsion spring 82.
  • Part of the bending foot is fixed on the fixing groove 832 of the inner bearing seat 83, and part is fixed on the torsion spring slot 821 of the lower limb frame 20.
  • the fixing slot 832 cooperates with the torsion spring slot 821 of the lower bracket 20 to stabilize the torsion spring 82. fixed.
  • the lower end connecting parts of the lower inner and outer brackets of the upper bracket 10 are respectively connected to the connecting parts of the lower bracket 20 to form internal and external joint rotation parts that match the human ankle joint.
  • Each joint rotating part is equipped with the above-mentioned outer bearing seat 81, torsion spring 82, inner bearing seat 83, bearing 84, bearing cover 85 components and corresponding installation structures.
  • the outer bearing seat 81, the bearing 84, the inner bearing seat 83 and the bearing cover 85 assemble the upper and lower brackets 10 and 20 together, and they are locked by screw locking to realize the relative positioning of the upper and lower brackets. Free rotation.
  • the torsion spring 82 is fixed by the mechanical limit and reset structure of the torsion spring slots of the upper and lower brackets 10 and 20.
  • the torsion spring 82 generates torsion as the upper and lower brackets 10 and 20 rotate and twist with each other, thereby assisting the up and down movement.
  • the reset of the bracket effectively improves the power assist. Described torsion spring return structure: when the bracket is in an unloaded state, the upper bracket 10 and the lower bracket 20 are at the maximum angle of dorsiflexion, and the spring 82 is in a natural state.
  • the bracket When the bracket starts to rotate, the torsion spring 82 starts to deform, and the generated torsion force After the external load is lost, the bracket can be restored to an unloaded state, that is, when the heel support arm 203 of the lower bracket 20 is pulled up by the traction cable, the pulling force will cause the heel support arm 203 to begin to twist and deform the spring 82.
  • the cable When the cable is relaxed , the deformed torsion spring 82 returns the bracket to its original position.
  • a traction cable fixing part 204 is provided on the heel support arm 203 for fixing the traction cable and/or transmission line.
  • the traction cable fixation part 204 is located in the middle of the heel support arm 203 so that the traction cable is fixed on the heel support arm 203 in the middle position to provide a balanced pulling force when pulling.
  • the distance S from the positioning point of the heel support arm 203 to which the traction cable is fixed to the heel is 1cm-5cm, preferably 2cm-4cm, and more preferably 2.5cm-3.0cm, as shown in Figure 3 .
  • the longer the distance between the connection point of the traction cable and the lower bracket 20 the smaller the traction force required, as shown by the dotted line in Figure 3.
  • the heel will not be able to touch the ground normally. .
  • the lower bracket 20 also includes a heel strap 60, which is located under the heel of the human body and plays a role in supporting and positioning the foot.
  • the heel strap 60 is in the shape of a sheet, and its two ends are connected to the front.
  • the rearward positions of the inner and outer support arms 201 and 202 are either connected to the U-shaped ends of the heel support arm 203 or to the connection between the heel support arm 203 and the front inner and outer support arms 201 and 202.
  • a baffle 2031, 2032 extends downward from two U-shaped ports of the heel support arm 203, and the heel strap 60 is connected to the lower ends of the two baffles 2031, 2032.
  • the plates 2031 and 2032 simultaneously function to position the feet, thereby enhancing the fixation and positioning of the human body's feet in the left and right directions.
  • through holes are provided on the bodies of the two baffles 2031 and 2032 for installing and fixing the heel straps, while also achieving breathability, weight reduction, and material reduction.
  • the heel strap 60 is in the shape of a sheet, which has a wider contact surface with the bottom of the user's shoe, is less destructive to the shoe, increases wear resistance, improves quality, and disperses pressure, thereby increasing the use of the user. Experience and comfort.
  • the present invention also includes a heel connection cover 50, which extends downward from the center point of the heel support arm 203 and includes a U-shaped thin plate, the lowest part of which is at a certain distance from the bottom surface of the user's shoe sole, and the lowest part is at a certain distance from the bottom surface of the user's shoe sole.
  • the upper part is the junction line between the user's shoe fabric and the sole, so that the heel connecting cover 50 is low enough but at a certain distance from the ground, so that the heel connecting cover 50 is pressed against the sole of the user's heel to achieve fixed support for the user's shoes. It prevents the user's feet from moving forward and backward without letting the user feel the hard U-shaped thin plate, which affects the power-assist effect and comfort.
  • a convex thin support piece 2011, 2021 extends inward from the front end of the front inner and outer support arms 201 and 202 of the lower bracket 20, which is located on the sole of the user's shoe to support, position and fix the user's foot, and rotates upward on the lower bracket 20 When swinging, it provides upward support thrust to the user's feet, pushing the user's feet upward to perform dorsiflexion movements; when the lower bracket 20 rotates and swings downward, the foot straps connected by 2031 and 2032 lift the user's heels and carry them with them. The user's foot presses down toward the ground, providing assistance for the user's foot to perform plantar flexion movements.
  • the support pieces 2011 and 2021 are located close to the toe joints of the human body.
  • the support pieces 2011 and 2021 are made into narrow sheets to reduce the foreign body feeling in the sole of the user's foot when the forefoot touches the bottom.
  • the two ends of the foot strap 40 are respectively fixedly connected to the front and inner support arms 201 and 202 of the lower bracket 20 and are located on the human foot to support, position and fix the user's feet; the lower bracket 20 When rotating and swinging downward, it provides downward pressure on the user's foot and provides assistance for the user's foot to perform plantar flexion movements.
  • the foot strap 40 is located between the ankle and the support pieces 2011, 2021, and a more preferred solution is located behind the toe joint of the human body.
  • the leg strap 30 includes: a fixed belt 31, and an adjustment belt 32 fixedly connected to one end of the fixed belt.
  • the other end of the fixed belt 31 is provided with
  • the other end of the connecting portion 33 is provided with a connecting piece 34 that is detachably and fixedly connected to the connecting portion 33 .
  • the adjustment member 35 is provided on the adjustment belt 32 to adjust the expansion and contraction of the adjustment belt 32.
  • the adjustment member 35 is preferably a winch and can be retracted or released to tighten and relax the belt.
  • the adjustment member 35 is arranged between Secure one end of the strap 31 connection.
  • the connecting part 33 and the connecting piece 34 are removably and fixedly connected, preferably by matching a magnetic buckle with a magnetic buckle base.
  • the magnetic buckle and the magnetic buckle base are provided with buckles that engage with each other. It is stuck along the transverse direction of the leg strap 30 and cannot be opened, but it can be easily opened along the longitudinal direction of the leg strap 30 .
  • the connector 34 is also provided with a release portion 36 , which is a hand strap. By pulling the release portion 36 upward, the connector 34 can be released from the connector 33 .
  • the fixing belt 31 is provided with fixing portions 311 and 312 that are respectively fixedly connected to the upper ends of the upper inner and outer brackets 121 and 122 of the upper bracket 10.
  • the fixing portions 311 and 312 are one or more through holes, which pass through Screws pass through the through holes to fix the fixing strap 31 and the upper ends of the upper inner and outer brackets 121 and 122, and the plurality of through holes satisfy the adjustment of the lower legs of different sizes.
  • a gasket 37 is also included, as shown in FIG. 6 , which is a schematic diagram of the gasket in this embodiment.
  • the gasket 37 includes a comfortable and soft layer that fits the human calf and a waterproof layer connected to the leg strap 30.
  • the waterproof layer and the fixing strap 31 of the leg strap 30 are fixed with Velcro and/or snap buckles.
  • the preferred solution is that the magic hook is located in the middle and the four-button buckles are located at the ends to fix the pad from the middle and both ends to prevent it from sliding and increase the user's comfort.
  • the leg strap can be easily adjusted to a suitable size according to the size of the customer's calf through the adjustment strap, and the leg strap can be easily and quickly installed and released through the magnetic buckle. Through the pad, the protection of the calf is increased and the user's comfort is increased. At the same time, through different options of mounting and fixing through holes, the size of the straps can again be fine-tuned.
  • the foot strap 40 includes: a fixed strap 41, an adjustment strap 42 fixedly connected to one end of the fixed strap, and the other end of the fixed strap 41 is provided with a lower bracket.
  • one of the front inner and outer support arms 201, 202 is fixedly connected to the connecting portion 43, and the other end of the adjustment belt 42 is provided with another support provided in the front inner and outer support arms 201, 202.
  • the connecting seat (not shown) on the arm can detachably fix the connecting piece 44 .
  • the adjustment belt 42 is provided with an adjustment member 45 for adjusting the expansion and contraction of the adjustment belt 42.
  • the adjustment member 45 is preferably a winch, which can be retracted or released to tighten and relax the belt.
  • the adjustment member 45 is arranged on a fixed position. One end with 41 connection.
  • the connecting piece 44 is removably and fixedly connected to the connecting seat provided on the support arm. It is preferred that the magnetic buckle with magnetic force cooperates with the magnetic buckle seat.
  • the magnetic buckle and the magnetic buckle seat are provided with mutually engaging The buckle is stuck along the transverse direction of the foot strap and cannot be opened, but can be easily opened along the longitudinal direction of the foot strap 40 .
  • the connector 44 is also provided with a release portion 46. In this embodiment, the release portion is a hand strap. By lifting the release portion 46 upward, the connector 44 can be released from the connection base.
  • the connecting portion of the fixing strap 41 is fixedly connected to the front inner support arm 201 of the lower bracket 20 , and the connecting seat is provided on the front outer support arm 202 of the lower bracket 20 .
  • the foot strap 40 can be easily adjusted to a suitable size according to the size of the customer's foot shoes through the adjustment strap, and the foot strap can be easily and quickly installed and released through the magnetic buckle structure.
  • leg straps 30 are located below the human body's knees when worn on the human calf to better release the human body's joint activities and reduce the restriction of the human body's joint activities by the exoskeleton support.
  • the body 11 of the upper bracket 10 is provided with a cable installation part 111 for fixing and installing traction cables and/or transmission lines.
  • the cable installation part 111 of this embodiment is Exploded diagram.
  • the mounting part 111 includes an upper bracket connector 112 fixed on the body 11 and a mounting block 113 for transmitting and fixing the traction cable.
  • the mounting block 113 is detachably and fixedly connected to the upper bracket connector 112 .
  • the cable installation part 111 includes an upper bracket connector 112 that is installed and fixed on the body 11 .
  • the upper bracket connector 112 includes a bracket connector body 1121 that is fixed on the body 11 .
  • a boss extends upward from the bracket connector body 1121 . 1122, used to support and fix external sensors and other components; the bracket connector body 1121 extends backward to form a rear boss, which is provided with a rear opening, a slot with partial openings on the top surface and bottom, forming a left and right wall And a slot 1123 with an open top and bottom surface, and a guide rail (not shown) on the inside of the left and/or right wall.
  • the cable installation part 111 also includes a magnetic block 1124 embedded therein, which is embedded in the bracket connector body 1121.
  • the preferred solution is to provide an opening on the left or right wall of the slot 1123 for the magnetic block 1124 to be embedded. Hole 1125.
  • the cable mounting part 111 also includes a mounting block 113 .
  • the installation block 113 includes a through hole 1131 for positioning and guiding the transmission and traction cable.
  • the through hole 1131 communicates with the top surface and bottom opening of the slot 1123.
  • the mounting block 113 is provided with a slot 1132 that matches the guide rail.
  • the magnet block 1133 is embedded in the lower part of the mounting block 113.
  • a preferred solution is to open an opening (not numbered) in the lower part of the mounting block 113 for the magnet block 1133 to be embedded.
  • the installation block 113 When installing and mating, the installation block 113 is inserted into the slot 1123, and the guide rail is inserted into the card slot 1132. Due to the support, blocking and positioning of the upper, lower, left, right and front walls of the slot 1123 and the guide rails and card slots 1132, the installation will The block 113 is positioned and fixed in the slot 1123 . Through the attraction of the magnet blocks 1124 and 1133 embedded in the bracket connection part 112 and the installation part 113, installation and fixation are quickly completed.
  • the guide rail and the slot 1132 have a certain inclination angle to prevent the installation block from falling off the slot and sliding out of the bracket connection part due to the tension and pressure of the pulling wire during use.
  • the inclination angle of the guide rail and the slot is upward, and the inclination angle ranges from 5° to 10°.
  • the slot, the guide rail, the card slot and the magnetic block are matched to achieve quick installation and disassembly of the bracket connection part and the installation part.
  • the magnetic blocks 1124 and 1133 are magnets that attract each other magnetically.
  • the heel support arm 203 of the lower bracket 20 is provided with a cable installation part 204 for fixing and installing traction cables and/or transmission lines. As shown in Figure 9, it is the cable installation part of this embodiment. 204 decomposition diagram.
  • the mounting part 204 includes a lower bracket connector 2041 fixed on the heel support arm 203 and a mounting block 2045 for transmitting and fixing the traction cable.
  • the mounting block 2045 is detachably and fixedly connected to the lower bracket connector 2041.
  • the lower bracket connector 2041 includes a bracket connector body 2042, one side of which is fixed on the heel support arm 203, preferably located in the middle of the heel support arm 203; the other side of the bracket connector body 2042 is provided with a slot that communicates with the upper and lower parts. , forming a slot 2043 with partial openings on the left and right walls, and on the upper and lower walls. The preferred solution is that the slot 2043 is provided at the middle position on the side opposite to the fixed side.
  • the lower bracket connector 2041 also includes a magnet block 2044 embedded therein.
  • the cable mounting part 204 also includes a mounting block 2045.
  • the installation block 2045 is used to fixedly connect external traction cables, and includes a through hole 2046 for positioning and guiding the transmission traction cable.
  • the traction cable passes through the through hole 2046 and is fixed on the installation block 2045.
  • a shoulder is provided on both sides of the upper end and lower end of the through hole 2046 in the up and down direction, forming a convex shape at the upper and lower ends to facilitate easy operation during installation and removal.
  • the mounting block 2045 has a magnetic block 2047 embedded therein. During installation and mating, the installation block 2045 is inserted into the slot 2043, and is limited by the support and obstruction of the upper, lower, left, right and front walls of the slot to position and fix the installation block 2045 in the slot 2043. Through the attraction of the magnet blocks 2044 and 2047 embedded in the lower bracket connection part 2041 and the installation part 2045, installation and fixation are quickly completed.
  • the fast installation and disassembly of the bracket connection part and the installation part is achieved through the matching of the slot and the magnetic block.
  • the magnetic blocks 2044 and 2047 are magnets that attract each other magnetically.
  • the upward traction force of the flexible traction cable (not numbered) drives the lower bracket to perform in-plane dorsiflexion and plantar flexion rotation movements to achieve assisted lower limb motor function rehabilitation.
  • the exoskeleton supports no higher than a human knee.
  • the flexible traction cable is fixedly installed through the cable installation parts of the upper bracket 10 and the lower bracket 20.
  • the traction cable receives upward traction force, the traction cable pulls the heel support arm 203 of the lower bracket 20 to rotate upward, thereby driving the entire
  • the lower bracket and the human body's feet fixed on the lower bracket move upward to provide assistance for the upward lifting movement of the human body's lower legs and feet.
  • the torsion spring 82 of the rotating part 80 is rotated upward by the lower bracket 20 to generate a torsion force.
  • the present invention reduces the height of the overall structure of the bracket by arranging a curved upper bracket structure.
  • the upper bracket structure located below the knee cooperates better with the human body. There are no parts on the side of the human body's calf, which reduces the possibility of collision. It does not affect other activities when worn, enhancing the wearing experience and comfort.
  • the upper bracket of the X structure adopted by the present invention is integrally formed, which reduces the connection between the components and improves the strength of the overall structure; at the same time, the upper and lower inner and outer brackets can be made thinner and smaller to achieve the same force resistance. To withstand, reduce material, weight, and cost; at the same time, the X-shaped structure is symmetrical, and the force generated on the bracket and the assistance provided by the bracket are symmetrical, achieving a better balanced assistance effect.
  • the main body at the intersection of the upper bracket of the The traction cable and/or transmission line are connected and fixedly positioned through the body of the X structure, so that the traction cable and/or transmission line are located behind the calf, making the structure of the overall exoskeleton bracket more compact and concise.
  • the present invention arranges flexible traction cables on the back side of the human body's calf, and uses torsion springs to assist dorsiflexion, which can simplify the structure and facilitate the conduction of traction force, which is better than arranging it on both sides of the calf. side.
  • the present invention fixes the upper bracket on the human body's calf through leg straps, and fixes the traction cable on the bracket.
  • the bracket absorbs the reaction force of the traction cable, avoiding the reaction force of the traction cable acting directly on the calf and causing injury.
  • soft leg straps are used to reduce the damage to the legs caused by the reaction force of the traction cable and increase comfort.
  • the adjustment part of the leg strap allows the strap to be adjusted according to the size of the user's calf, meeting the needs of users of different sizes; the magnetic buckle structure of the leg strap makes it convenient for users to fasten and disassemble when wearing it. safety.
  • the present invention quickly installs and disassembles the traction cable through the magnets of the cable installation part and the upper and lower quick release connectors, which is convenient for users to operate and use, so that the bracket, auxiliary exoskeleton equipment controller, and cables can be conveniently connected during transportation. Separate packaging and transportation can reduce the equipment loss caused by the cables and brackets being connected together during transportation, and the cables are easily damaged and broken, providing safety during transportation and extending the service life of the equipment.
  • the foot of the present invention uses a heel connection cover, a foot strap, and a heel strap structure to position the lower bracket, which effectively prevents the human foot from shifting forward, backward, left, and right on the lower bracket, and prevents the lower bracket from loosening. Take off to ensure safety and stability during use.
  • the adjustment part of the foot strap allows the strap to be adjusted according to the user's shoe size, meeting the needs of users of different sizes; the magnetic buckle structure connection method of the foot strap makes it convenient and safe for users to put on and remove sex.
  • the rear side of the lower bracket is positioned using a heel connection cover, which is placed at the Achilles tendon of the foot and has less impact on the human body.
  • the upper edge of the heel connection cover used for positioning is flush with the gap between the shoe knitted fabric and the sole.
  • the front end of the lower bracket is positioned using an adjustable foot strap.
  • the heel strap and the support piece on the lower limb frame are used to limit the Z-direction freedom of the frame.
  • the heel strap structure replaces the existing lower bracket step structure. If the bottom surface of the heel adopts a rigid structure, the user will have an obvious tactile sensation, which affects the comfort of use. The closer the position of the lower bracket support piece to the front end, the better the limiting effect.
  • the torsion spring considering that the toes have a certain degree of mobility under working conditions, it is not particularly easy to withstand large forces, including considering the shape and structure of the shoes, which affects the use effect. Therefore, the lower bracket support piece is preferred The limiting structure is placed close to the toe joint.

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Abstract

本发明提供的脚踝辅助外骨骼支架，包括上支架、下支架；上支架的下端与下支架的后端可转动的连接，上支架通过一用于套设到人体小腿的连接带固定到小腿上，上支架的上端位于人体小腿内外侧上，并位于膝盖的下方；下支架套设于人体脚部，为人体脚部的背曲跖屈运动提供助力；上支架包括一本体，从本体上端向上、向外延伸出一对带弧度的上内、外支架，从本体的下端向下、向外延伸出一对带弧度的下内、外支架，上支架形成一X形状并带有弯曲曲度的支架结构。本发明通过设置弯曲的上支架结构，降低了支架的整体结构的高度，与人体的配合更好，在人体小腿的侧面无部件，减少了碰撞的可能性，在佩戴时不影响其他活动，增强了佩戴的体验感和舒服度。

Description

脚踝辅助外骨骼支架
相关申请的交叉引用
本申请主张在2022年4月7日在中国提交的中国专利申请号No.202210361494.0的优先权，其全部内容通过引用包含于此。
技术领域
本发明涉及可穿戴设备技术领域，具体地，涉及一种为用户的脚踝提供辅助力可被日常使用的脚踝辅助外骨骼支架。
背景技术
当下，为了不同的目的而设计出了用于下肢的可穿戴设备，其中包括增强人体力量的可穿戴设备、提供康复训练的可穿戴设备、提高移动效率和减少人体能耗的可穿戴设备。为了增强人体力量和康复的目的，可穿戴的下肢设备或外骨骼通常依赖于全腿刚性金属结构来提供外部身体支撑。这些下肢外骨骼系统可以使身体健康的人或身体有残障的人能够执行使用他们自己的力量无法完成的任务。如现有专利第201380064944.9号，其揭示了一种刚性外骨骼支架，该支架的结构提供了大腿连杆、小腿连杆、脚部连杆配合人体耦合的支架结构。但是，现有的刚性可穿戴设备在配合人体行动和移动效率提高方面存在以下缺陷：(1)因设备关节无法和人体关节在运动之间的对齐失准而导致设备与生物关节之间存在干涉；(2)因设备自由度对少于人体下肢关节的自由度而导致生物关节的运动自由度受到约束；(3)因未被设备本身完全控制和补偿的较大重量和惯量而导致用户在穿戴设备时需要付出额外的能耗带动部分设备。同时较沉重较大的设备结构也使得此类全腿刚性的外骨骼设备很难在日常生活场景中被使用。
目前，有些柔性外骨骼设备利用轻质柔性体材料来制成以减小对生物关节的约束并提供关节助力。此类设备提出了一种给予关节助力的更轻便的解决方案。但是这些柔性外骨骼设备依赖于用户的皮肤表面提供切向力作为为辅助关节助力的反作用力。也就是说，这些设备在一侧向用户的肢体关节提供辅助力，而在另一侧向用户的皮肤表面施加与皮肤表面相切的 切向力，这些切向力导致用户的皮肤表面被揉搓、挤压，并因此造成用户不适。而且，当用户的皮肤松弛、肌肉刚度不够从而导致难以提供足够大的切向力作为辅助力的反作用力时，这些设备将不能提供足够的辅助力。
因此，亟需一种能够提供轻便、简易穿戴、调节方便或不对用户的关节造成约束的外骨骼支架，在提供下肢辅助的同时不依赖于用户的皮肤表面提供切向力的可穿戴辅助的支架，以用于提高用户的日常行动能力和行动效率。
有鉴于此特提出本发明。
发明内容
本发明的目的在于提供一种轻便、不约束用户关节自由度、与人体配合更好的脚踝辅助外骨骼支架。
本发明提供的一种脚踝辅助外骨骼支架，包括上支架、下支架；上支架的下端与下支架的后端可转动的连接，上支架通过一用于套设到人体小腿的连接带固定到小腿上，上支架的上端位于人体小腿内外侧上，并位于膝盖的下方；下支架套设于人体脚部，为人体脚部的背曲跖屈运动提供助力；
上支架包括一本体，从本体上端向上、向外延伸出一对带弧度的上内、外支架，从本体的下端向下、向外延伸出一对带弧度的下内、外支架，上支架形成一X形状并带有弯曲曲度的支架结构。
其优选方案为，所述的上支架的弯曲曲度定义如下：最大弯曲度点位于本体，上内、外支架的上端点为在用户穿戴时位于小腿内、外侧中间靠后的位置；下内、外侧支架的下端点为在用户使用时位于用户的踝关节位置或在背曲跖屈的自由度连轴线上。
其又一优选方案为，所述的上支架为一体成型，其弯曲曲度为:上支架的最下端到最上端距离为20cm-50cm，优选为30cm-40cm，更优先为36cm；本体中间部离最上端和下端的直线连线的距离为5cm-15cm,优选为8cm-12cm，更优选为10cm。
其又一优选方案为，所述的下支架包括前内、外支撑臂和脚后跟支撑臂，所述脚后跟支撑臂呈一配合人体脚后跟形状的U形，U形两端与前内、外支撑臂的后端相连，所述脚后跟支撑臂与前内、外支撑臂相交点为下支架与上支架的连接点，构成外骨骼支架的关节旋转部。
其又一优选方案为，所述的下支架包括脚部绑带，该脚部绑带两端分别固定连接于下支架的前内外支撑臂，位于人体脚面，以支撑、定位、固定用户的脚部；所述下支架的前、内 外支撑臂的前端各向内延伸出一凸薄支撑片，位于用户的鞋底，以支撑和定位、固定用户的脚，并在下支架向上、向下旋转摆动时，分别对用户的脚部提供向上支撑推力和对地面提供向下压力。
其又一优选方案为，所述下支架还包括位于人体脚后跟下的脚跟绑带，所述脚跟绑带呈薄片状，其两端连接于前内、外支撑臂上靠后的位置或连接于脚后跟支撑臂的U形两端或连接于脚后跟支撑臂与前内、外支撑臂的连接处。
其又一优选方案为，在所述脚后跟支撑臂的U形两端部向下各延伸出一挡板，所述的脚跟绑带连接于该两挡板的下端部。
其又一优选方案为，还包括一脚跟连接盖板，该脚跟连接盖板从脚后跟支撑臂的中心点向下延伸出，包括抵于用户脚后跟鞋底上的一U形薄板。
其又一优选方案为，所述的旋转部实现上、下支架相对自由转动运动及复位，包括外轴承座、扭簧、内轴承座、轴承、轴承盖；所述外轴承座固定于上支架下端外侧，扭簧、内轴承座、轴承、轴承盖依次安装于上支架下端内侧和下支架之间。
其又一优选方案为，所述的上支架的本体上设置有安装固定牵引线缆的安装部；所述的下支架的脚后跟支撑臂上设置有安装固定牵引线缆的安装部。
本发明通过设置弯曲的上支架结构，降低了支架的整体结构的高度，与人体的配合更好，在人体小腿的侧面无部件，减少了碰撞的可能性，在佩戴时不影响其他活动，增强了佩戴的体验感和舒服度。
本发明X结构的上支架通过一体成型，减少了各部件间的连接，提升了整体结构的强度；同时可以通过将上、下的内外侧支架做得更细更小，同样达到对力的承受，减少材料，降低重量，降低成本；同时X形状结构是对称性的，在支架上产生的力和通过支架提供的助力是对称的，达到了更好均衡助力的作用。外骨骼设备的牵引线和/或传输线通过该X结构的本体连接固定定位，使得牵引线缆和/或传输线位于小腿的后方，提高了整体外骨骼支架的结构紧凑性、简洁性。
附图的简要说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本申请的一些实 施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本发明一实施例中脚踝辅助外骨骼支架的立体图示意图；
图2是图1中所示外骨骼支架的部分结构的分解示意图；
图3是本发明一实施例中展示脚踝辅助外骨骼支架牵引线缆与下支架的连接点的距离的示意图；
图4是本发明一实施例中脚踝辅助外骨骼支架的腿部绑带的示意图；
图5是图4脚踝辅助外骨骼支架腿部绑带的使用状态立体示意图；
图6是本发明一实施例中腿部绑带用护垫示意图；
图7是本发明一实施例中脚踝辅助外骨骼支架的脚部绑带的示意图；
图8是本发明一实施例中上支架的线缆安装部的立体分解示意图；
图9是本发明一实施例中下支架的线缆安装部的立体分解示意图；
图10是本发明中使用脚踝辅助外骨骼支架过程中产生的各种反作用力示意图；
图11是图2中扭簧一端与下支架固定结构局部放大分解示意图；
图12是图2中扭簧另一端与上支架固定结构局部放大分解示意图；
图13是图2中内轴承座与上支架固定结构局部放大分解示意图。
本发明的实施方式
本发明中所述的上、下、左、右、前、后的方向以人体的上、下、左、右、前、后方向为基准。内、外方向以人体腿部的内侧、外侧方向为基准。
如图1、图2所示，本发明的脚踝外骨骼支架，其适用于助力下肢运动功能康复的可穿戴设备中，具有重量轻，该脚踝外骨骼支架，包括：上支架10、下支架20、腿部绑带30、脚部绑带40、脚跟连接盖板50、脚跟绑带60。上支架10的下端与下支架20的后端可转动的连接，上支架10的上端与腿部绑带30连接，使用时腿部绑带30穿戴于人体小腿上，将上支架固定于人体小腿上。脚部绑带40与下支架20的前端连接，使用时脚部绑带40穿戴于人体脚面上；脚跟绑带60与下支架20的后端连接，使用时脚跟绑带60位于人体脚后跟下方。通过腿部绑带30、脚部绑带40和脚跟绑带60将上支架10和下支架20组件穿戴在人体下肢部位。
上支架10包括一本体11，从本体上端向上、向外延伸出一对带弧度的上内、外支架121、 122，从本体11的下端向下、向外延伸出一对带弧度的下内、外支架131、132，上支架10形成一X形状的支架结构。上内、外支架121、122的端部设有与腿部绑带30连接的上连接部(未标号)，下内、外支架131、132的端部设有连接于下支架20的下连接部134。一优选方案中，该X形上支架10为一体成型的结构，材质为轻质的碳纤维材质。上支架10呈非直线状，设置为朝向人体小腿方向弯曲具有一定弧度的曲线状。上支架10的弯曲弧度根据如下定义：最大弯曲度点位于本体11位置，上内、外支架121、122的上端点为在用户穿戴时位于小腿内、外侧中间靠后的位置，该位置设置点选择为用户在使用时避免外部与支架产生碰撞、以及在弯腿时不受影响的位置为佳；下内、外侧支架131、132的下端点为在用户使用时位于用户的踝关节位置或在背曲跖屈的自由度连轴线上。本实施例中，上支架10的最下端到最上端距离为20cm-50cm，优选为30cm-40cm左右，更优先为36cm；将最上端和下端连线，后面x形状本体11中间部离此条连线的距离为5cm-15cm,优选为8cm-12cm，更优选为10cm。这种设置弯曲的上支架10结构，降低了支架的整体结构的高度，与人体的配合度更好，在人体小腿的侧面无部件，减少了碰撞的可能性，在佩戴时不影响其他活动，增强了佩戴的体验感和舒服度。本发明中的X结构的上支架10，通过一体成型，减少了各部件间的连接，提升了整体结构的强度；同时可以通过将上、下的内外侧支架做得更细更小，同样达到对力的承受，减少材料，降低重量，降低成本；同时X形状结构是对称性的，在支架上产生的力和通过支架提供的助力是对称的，达到了更好均衡助力的作用。X结构的上支架10交叉点的本体11提供了其他部件如牵引线缆和/或传输线、传感器、处理器、控制器等部件的安装固定平台，将其他部件都集合安装在本体11上，外骨骼设备的牵引线缆和/或传输线通过该X结构的本体11连接固定定位，使得牵引线缆和/或传输线位于小腿的后方，使得整体外骨骼支架的结构更紧凑、简洁。
下支架20包括前内、外支撑臂201、202和脚后跟支撑臂203，所述脚后跟支撑臂203呈一配合人体脚后跟形状的U形，U形两端与前内、外支撑臂201、202的后端相连。本发明实施例中，前内、外支撑臂201、202与上支架134相交点为下支架20与上支架10的连接点，即为外骨骼支架的关节旋转部80。
该旋转部80实现上、下支架10、20相对自由转动运动及复位，包括外轴承座81、扭簧82、内轴承座83、轴承84、轴承盖85。其依次安装顺序为：所述外轴承座81固定于上支架10下端的安装孔外侧，扭簧82、内轴承座83、轴承84、轴承盖85依次安装于上支架10下端的安装孔和下支架20的安装孔之间。所述外轴承座81、内轴承座83、轴承84、轴承盖85 将上、下支架10、20组装在一起，实现上下支架相对的自由转动，本实施例中通过螺丝固定。请同时参阅图11、12、13所示，所述内轴承座83上设有凸起831，所述上支架10的下端连接部134设有凸起831限位凹槽1341，所述的凸起831在限位凹槽1341内运动，起到限制上、下支架10、20在一定范围的旋转，限位凹槽1341限制凸起831在一定的范围内运动，从而达到调节控制下支架20根据人体踝关节的旋转范围内转动，从而保护人体的踝关节。所述下支架20连接部上设置有扭簧卡槽821，所述的上支架10下端连接部1341上设有扭簧卡槽822，所述扭簧82的两端分别固定于上、下支架连接部的扭簧卡槽822、821内。
在另一实施例中，所述内轴承座83上在与设有凸起831侧相对的另一侧上设有固定槽832，用于固定扭簧82一端的弯折角，扭簧82一端的弯折脚一部分固定在内轴承座83的固定槽832上，一部分固定在下肢架20的扭簧卡槽821上，该固定槽832配合下支架20的扭簧卡槽821将扭簧82稳定的固定。
所述上支架10的下内、外支架的下端连接部分别连接下支架20连接部，形成配合人体踝关节的内、外关节旋转部。每一关节旋转部均配有上述外轴承座81、扭簧82、内轴承座83、轴承84、轴承盖85部件和相应的设置结构。
本实施例中，所述外轴承座81、轴承84、内轴承座83及轴承盖85将上、下支架10、20组装在一起，通过如螺丝锁付的方式锁付，实现上下支架相对的自由转动。
所述扭簧82通过上、下支架10、20的扭簧卡槽的机械限位、复位结构固定，扭簧82随着上、下支架10、20相互旋转扭动而产生扭力，从而辅助上下支架的复位，有效的提高了助力。所述的扭簧复位结构：在支架处于空载状态下，上支架10和下支架20处于背屈最大角度，弹簧82处于自然状态，当支架开始旋转，扭簧82开始形变，所产生的扭力在失去外在负载后可将支架恢复到空载状态，即当下支架20的脚后跟支撑臂203被牵引线缆拉起时，拉力将使脚后跟支撑臂203开始扭转并且形变弹簧82，当线缆放松，形变的扭簧82将支架恢复到初始位置。
脚后跟支撑臂203上设置牵引线缆固定部204，用于固定牵引线缆和/或传输线，该牵引线缆固定部204位于脚后跟支撑臂203中间位置，使得牵引线缆被固定在脚后跟支撑臂203的中间位置，以在拉动时提供均衡的拉力。该脚后跟支撑臂203固定牵引线缆的定位点到脚后跟的距离S为1cm-5cm，优选为2cm-4cm，更优选为2.5cm～3.0cm，如图3所示。依照理论，由于力臂的作用，牵引线缆与下支架20的连接点的距离越长所需的牵引力越小如图3虚线所示，但是，如果距离过长，就会导致脚跟无法正常着地。
所述的下支架20还包括脚跟绑带60，位于人体的脚后跟下面，起到支撑、定位脚部的作用，在优选实施例中，该脚跟绑带60呈薄片状，其两端连接于前内、外支撑臂201、202上靠后的位置或连接于脚后跟支撑臂203的U形两端或为连接于脚后跟支撑臂203与前内、外支撑臂201、202的连接处。在一实施例中，脚后跟支撑臂203的U形两端口向下各延伸出一挡板2031、2032，所述的脚跟绑带60连接于该两挡板2031、2032的下端部，该两挡板2031、2032同时起到定位脚部的作用，增强了人体脚部左右方向的固定和定位。优选方案中，两挡板2031、2032的本体上开设通孔，用于安装固定脚跟绑带，同时起到透气、减轻重量、减少材料。本实施例中脚后跟绑带60呈片状，与用户鞋子的底部接触面更宽，对鞋子的破坏性更小，增加了耐磨性、提升了质量，同时分散了压力，增加了用户的使用体验感和舒适度。
本发明还包括一脚跟连接盖板50，该脚跟连接盖板50从脚后跟支撑臂203的中心点向下延伸出，包括一U形薄板，其下边最低处为与用户鞋底底面有一定距离，最上边为用户鞋子织物与鞋底的交界线处，使得脚跟连接盖板50足够低但是又和地面有一定距离，使得该脚跟连接盖板50沿抵在用户脚后跟的鞋底上，达到固定支撑用户鞋子的作用，防止用户的脚前后移动，又不会让用户感受到坚硬的U形薄板，影响助力效果和舒适度。
下支架20的前内、外支撑臂201、202的前端各向内延伸出一凸薄支撑片2011、2021，位于用户的鞋底，以支撑和定位、固定用户的脚，并在下支架20向上旋转摆动时，对用户的脚部提供向上支撑推力，推着用户的脚向上做背屈运动；当下支架20向下旋转摆动时，2031、2032所连接的脚步绑带，提拉用户脚后跟，带着用户的脚部向下压向地面，为用户脚部做跖屈运动提供助力。另一优选实施方案中，该支撑片2011、2021设于靠近人体脚趾关节处的位置。优选的，该支撑片2011、2021设为窄的薄片，以减小用户前脚掌触底时脚底的异物感。
本发明实施例中，所述的脚部绑带40的两端分别固定连接于下支架20的前内外支撑臂201、202，位于人体脚面，以支撑、定位、固定用户的脚部；当下支架20向下旋转摆动时，对用户的脚面提供向下的压力，为用户的脚部做跖屈运动提供助力。另一优选实施例中，脚部绑带40位于脚踝与支撑片2011、2021之间，更优选方案为位于人体脚趾关节处的后方。
如图1、图4、图5所示，本发明实施例中，腿部绑带30包括：固定带31、与固定带一端固定连接的调节带32，所述的固定带31另一端设有连接部33，所述的调节带32的另一端设有与连接部33可拆卸固定连接的连接件34。所述调节带32上设有调节件35，用以调节调节带32的伸缩，所述的调节件35优选绞盘，可收可放的收紧和放松带子，所述的调节件35设置于与固定带31连接的一端。所述的连接部33与连接件34可拆卸的固定连接，优选带有 磁力的磁力扣和磁力扣座相配合的方法，磁力扣和磁力扣座上设有相互卡合的卡扣件，在沿着腿部绑带30横向方向卡死，无法拉开，但在沿着腿部绑带30的纵向时可以方便的拉开。在连接件34上还设置有释放部36，该释放部36为以手提带，通过向上提拉释放部36，可以将连接件34从连接部33中释放出来。所述固定带31上设置有与上支架10的上内、外支架121、122的上端分别固定连接的固定部311、312，优选的，固定部311、312为一个或多个通孔，通过螺钉穿过通孔将固定带31和上内、外支架121、122的上端固定，多个通孔满足不同尺寸小腿的调节。
在另一优先实施例中，还包括垫片37，如图6所示，为本实施例中垫片的示意图。该垫片37包括贴合于人体小腿的舒适柔软层和连接于腿部绑带30的防水层，防水层和腿部绑带30的固定带31通过魔术粘扣和/或四合扣固定，优选方案为魔术粘扣位于中间部位，四合扣位于端部，从中间和两端固定护垫，防止其滑动，增加了用户的舒适度。
该腿部绑带通过调节带可以方便的依据客户小腿的大小调整到合适的尺寸，通过磁力扣可以方便、快速的安装及松解该腿部绑带。通过护垫，增加了对小腿的保护，增加了用户的舒适感。同时通过安装固定通孔的不同选择，再次可以微调绑带的大小尺寸。
如图1、图7所示，本发明实施例中，脚部绑带40包括：固定带41、与固定带一端固定连接的调节带42，所述的固定带41另一端设有与下支架20的前内、外支撑臂201、202中的其一固定连接的连接部43，所述的调节带42的另一端设有与设于前内、外支撑臂201、202中的另一支撑臂上的连接座(图未示)可拆卸固定连接的连接件44。所述调节带42设有调节件45，用以调节调节带42的伸缩，所述的调节件45优选绞盘，可收可放的收紧和放松带子，所述的调节件45设置于与固定带41连接的一端。所述的连接件44与设于支撑臂上的连接座可拆卸的固定连接，优选带有磁力的磁力扣和磁力扣座相配合的方法，磁力扣和磁力扣座上设有相互卡合的卡扣件，在沿着脚部绑带横向方向卡死，无法拉开，但在沿着脚部绑带40的纵向时可以方便的拉开。在连接件44上还设置有释放部46，在本实施例中该释放部为一手提带，通过向上提拉释放部46，可以将连接件44从连接座中释放出来。优选的方案中，所述固定带41上的连接部固定连接于下支架20的前内支撑臂201上，所述的连接座设于下支架20的前外支撑臂202上。
该脚部绑带40通过调节带可以方便的依据客户脚部鞋子的大小调整到合适的尺寸，通过磁力扣结构可以方便、快速的安装及松解该脚部绑带。
在另一优选实施方案中，腿部绑带30穿戴于人体小腿上时位于人体膝盖的下方，以到达 更好释放人体关节活动，减少外骨骼支架对人体关节活动的限制。
本发明另一实施例中，上支架10的本体11上设有固定、安装牵引线缆和/或传输线的线缆安装部111，如图8所示，为本实施例线缆安装部111的分解示意图。所述安装部111包括固定于本体11上的上的上部支架连接器112和用于传动固定牵引线缆的安装块113，所述的安装块113与上部支架连接器112可拆卸的固定连接。
该线缆安装部111包括安装固定于本体11上的上部支架连接器112，该上部支架连接器112包括固定于本体11上的支架连接器本体1121，支架连接器本体1121向上延伸出一凸台1122，用以支撑固定外部传感器等部件；支架连接器本体1121向后延伸出后凸台，该后凸台开设有后开口、顶面和底部部分开口的开槽，形成一带有左、右壁及带开口的顶面和底面的插槽1123，在左和/或右壁内侧设有导轨(图未示)。所述线缆安装部111还包括嵌于其内的磁块1124，其嵌入支架连接器本体1121，优选方案为在插槽1123的左壁或右壁上开设用以供磁块1124嵌入的开孔1125。所述线缆安装部111还包括安装块113。该安装块113包括用于传动牵引线缆定位及导向作用的通孔1131，该通孔1131与插槽1123的顶面、底部开口相通。安装块113设有配合导轨的卡槽1132。在安装块113的下部内嵌有磁块1133，优选方案为在安装块113下部开设用以供磁块1133嵌入的开孔(未标号)。安装配合时，安装块113插入插槽1123内，导轨插入卡槽1132，受限于插槽1123上、下、左、右及前壁以及导轨及卡槽1132的支撑、阻挡、定位，将安装块113定位固定于插槽1123内。通过嵌于支架连接部112和安装部113内的磁块1124、1133的相吸力，快速的完成安装、固定。优选的，导轨和卡槽1132为有一定倾斜角度，以便防止在用户使用过程，由于牵引线的拉力、压力可能导致安装块脱落于插槽滑出支架连接部。优选为导轨和卡槽的倾斜角向上倾斜，倾斜角范围为5°-10°。拆卸时，只需用力将安装块113往外拉，克服磁块的吸力，即可容易的将安装块拆卸。本实施例中通过插槽、导轨与卡槽及磁块的相配合的方式实现支架连接部与安装部快速安装及拆卸。
磁块1124、磁块1133为磁性相吸的磁铁。
本发明另一实施例中，下支架20的脚后跟支撑臂203上设有固定、安装牵引线缆和/或传输线的线缆安装部204，如图9所示，为本实施例线缆安装部204的分解示意图。所述安装部204包括固定于脚后跟支撑臂203上的下部支架连接器2041和用于传动固定牵引线缆的安装块2045，所述的安装块2045与下部支架连接器2041可拆卸的固定连接。
该下部支架连接器2041包括支架连接器本体2042，其一侧固定于脚后跟支撑臂203上， 优选方案位于脚后跟支撑臂203的中间位置；支架连接器本体2042另一侧上设置上下相通的开槽，形成一带有左、右壁、及上、下壁部分开口的插槽2043。优选方案为，所述的插槽2043设于与固定侧相对侧的中间位置。所述下部支架连接器2041还包括嵌于其内的磁块2044。所述线缆安装部204还包括安装块2045。该安装块2045用于固定连接外部牵引线缆，包括用于传动牵引线缆定位及导向作用的通孔2046，所述牵引线缆穿过通孔2046后固定于安装块2045上。沿通孔2046上下方向的上端部和下端部的两侧均设置一肩部，在上、下端部形成凸字形，方便人在安装和摘取时操作方便。安装块2045内嵌有磁块2047。安装配合时，安装块2045插入插槽2043内，受限于插槽上、下、左、右及前壁的支撑、阻挡，将安装块2045定位固定于插槽2043内。通过嵌于下支架连接部2041和安装部2045内的磁块2044、2047的相吸力，快速的完成安装、固定。拆卸时，只需用力将安装块2045往外拉，克服磁块的吸力，即可容易的将安装块取出。本实施中通过插槽及磁块的相配合的方式实现支架连接部与安装部快速安装及拆卸。
磁块2044、2047为磁性相吸的磁铁。
通过柔性牵引线缆(未标号)的向上牵引力驱动下支架做平面内的背屈和跖屈旋转运动，实现助力下肢运动功能康复。
该外骨骼支架不超过人体的膝盖。柔性牵引线缆通过上支架10和下支架20的线缆安装部固定安装，当牵引线缆受到向上的牵引力时，牵引线缆拉动下支架20的脚后跟支撑臂203旋转的向上运动，从而带动整体下支架及固定于下支架上人体的脚向上运动，为人体的小腿、脚部向上抬起运动提供助力。在往上运动的过程中，旋转部80的扭簧82受到下支架20向上旋转产生扭力，当牵引线缆停止继续提供牵引力，且扭簧82的扭力大于牵引力时，扭簧82向下支架20通过积蓄的扭力，给下支架20提供向下的压力，带动下支架向下旋转运动，如图10所示，为本发明中，因使用过程中而产生的各种反作用力，F1为向上的摩擦力，F2为向内的压力，F3为向下的牵引力。
本发明通过设置弯曲的上支架结构，降低了支架的整体结构的高度，位于膝盖下方的上支架结构，与人体的配合更好，在人体小腿的侧面无部件，减少了碰撞的可能性，在佩戴时不影响其他活动，增强了佩戴的体验感和舒服度。
本发明通过的X结构的上支架通过一体成型，减少了各部件间的连接，提升了整体结构的强度；同时可以通过将上、下的内外侧支架做得更细更小，同样达到对力的承受，减少材料，降低重量，降低成本；同时X形状结构是对称性的，在支架上产生的力和通过支架提供 的助力是对称的，达到了更好均衡助力的作用。X结构的上支架交叉点的本体提供了其他部件如牵引线缆和/或传输线、传感器、处理器、控制器等部件的安装固定平台，将其他部件都集合安装在本体上，外骨骼设备的牵引线缆和/或传输线通过该X结构的本体连接固定定位，使得牵引线缆和/或传输线位于小腿的后方，使得整体外骨骼支架的结构更紧凑、简洁。
本发明通过仿生踝关节运动原理，将柔性牵引线缆排布在人体小腿的后侧，通过扭簧实现背屈的助力，可以简化结构，有利于牵引力的传导，优于排布在小腿的两侧。
本发明通过腿部绑带将上支架固定在人体小腿上，并将牵引线缆固定在支架上由支架吸收牵引线缆的反作用力，避免了牵引线缆的反作用力直接作用于小腿上而伤害到人体腿部，同时，应用柔软的腿部绑带相结合减少牵引线缆的反作用力对腿部的伤害，增加舒适度。腿部绑带的调节部使得绑带可以按照用户的小腿尺寸调节大小，满足了不同尺寸的用户的需求；腿部绑带的磁力扣结构，方便了用户穿戴时紧固及拆卸的方便性和安全性。
本发明通过线缆安装部的磁铁及上下部快速释放连接器快速安装、拆卸牵引线缆，方便用户操作使用，使得在运输过程中，可以方便的将支架和辅助外骨骼设备控制器、线缆分开包装运输，减少运输过程中因线缆和支架连在一起而导致设备损耗、线缆容易受损、折损，提供运输过程中的安全性，延长设备的使用寿命。
本发明的脚部采用脚跟连接盖板、脚部绑带、脚跟绑带结构定位下支架，有效的防止人体脚部在下支架上的前、后、左、右的移位挪动，防止下支架松脱，确保使用过程中的安全性和稳定性。脚部绑带的调节部使得绑带可以按照用户的鞋子尺寸调节大小，满足了不同尺寸的用户的需求；脚部绑带的磁力扣结构连接方式，方便了用户穿戴及拆卸的方便性和安全性。
下支架后侧定位采用脚跟连接盖板，放在脚的跟腱处对人体产生影响较小。定位采用的脚跟连接盖板的上边沿和鞋子针织物与鞋底的连接的缝隙齐平，当连接盖板由于外力需要向前挤压鞋子时，所有的力量传导到鞋底上而不是直接顶着用户后跟，极大提高用户舒适度。
下支架前端定位采用可调节的脚部绑带，脚部绑带越靠近脚的前端越能很好的起到定位作用，如果将脚部绑带放置在脚趾位置，在运动时，会影响脚趾活动度和舒适度，影响使用效果，将脚部绑带位置向后移动定位在脚趾关节处后方为优选方案。
脚部底面，采用脚跟绑带和下肢架上的支撑片，限制支架的Z向自由度。脚跟绑带结构替代现有的下支架台阶结构如脚跟底面采用硬性结构，使用者会有明显触感，影响使用舒适度；下支架支撑片位置越靠近前端限位效果越好，同时在扭簧作用时所承受的力最小，但考 虑到在工作状态下脚趾具有一定的活多度，不是特别好承受力量大的部分，包括考虑到鞋子的形状结构，影响使用效果，因此，优选下支架支撑片限位结构放置在靠近脚趾关节处。

Claims (10)

  1. 一种脚踝辅助外骨骼支架，其特征在于，包括上支架、下支架；上支架的下端与下支架的后端可转动的连接，上支架通过一用于套设到人体小腿的连接带固定到小腿上，上支架的上端位于人体小腿内外侧上，并位于膝盖的下方；下支架套设于人体脚部，为人体脚部的背曲跖屈运动提供助力；
    上支架包括一本体，从本体上端向上、向外延伸出一对带弧度的上内、外支架，从本体的下端向下、向外延伸出一对带弧度的下内、外支架，上支架形成一X形状并带有弯曲曲度的支架结构。
  2. 如权利要求1所述的脚踝辅助外骨骼支架，其特征在于，所述的上支架的弯曲曲度定义如下：最大弯曲度点位于本体，上内、外支架的上端点为在用户穿戴时位于小腿内、外侧中间靠后的位置；下内、外侧支架的下端点为在用户使用时位于用户的踝关节位置或在背曲跖屈的自由度连轴线上。
  3. 如权利要求2所述的脚踝辅助外骨骼支架，其特征在于，所述的上支架为一体成型，其弯曲曲度为:上支架的最下端到最上端距离为20cm-50cm本体中间部离最上端和下端的直线连线的距离为5cm-15cm。
  4. 如权利要求1所述的脚踝辅助外骨骼支架，其特征在于，所述的下支架包括前内、外支撑臂和脚后跟支撑臂，所述脚后跟支撑臂呈一配合人体脚后跟形状的U形，U形两端与前内、外支撑臂的后端相连，所述脚后跟支撑臂与前内、外支撑臂相交点为下支架与上支架的连接点，构成外骨骼支架的关节旋转部。
  5. 如权利要求4所述的脚踝辅助外骨骼支架，其特征在于，所述的下支架包括脚部绑带，该脚部绑带两端分别固定连接于下支架的前内外支撑臂，位于人体脚面，以支撑、定位、固定用户的脚部；所述下支架的前、内外支撑臂的前端各向内延伸出一凸薄支撑片，位于用户的鞋底，以支撑和定位、固定用户的脚，并在下支架向上、向下旋转摆动时，分别对用户的脚部提供向上支撑推力和对地面提供向下压力。
  6. 如权利要求5所述的脚踝辅助外骨骼支架，其特征在于，所述下支架还包括位于人体脚后跟下的脚跟绑带，所述脚跟绑带呈薄片状，其两端连接于前内、外支撑臂上靠后的位置或连接于脚后跟支撑臂的U形两端或连接于脚后跟支撑臂与前内、外支撑臂的连接处。
  7. 如权利要求6所述的脚踝辅助外骨骼支架，其特征在于，在所述脚后跟支撑臂的U形两端部向下各延伸出一挡板，所述的脚跟绑带连接于该两挡板的下端部。
  8. 如权利要求4所述的脚踝辅助外骨骼支架，其特征在于，还包括一脚跟连接盖板，该脚跟连接盖板从脚后跟支撑臂的中心点向下延伸出，包括抵于用户脚后跟鞋底上的一U形薄板。
  9. 如权利要求4所述的脚踝辅助外骨骼支架，其特征在于，所述的旋转部实现上、下支架相对自由转动运动及复位，包括外轴承座、扭簧、内轴承座、轴承、轴承盖；所述外轴承座固定于上支架下端外侧，扭簧、内轴承座、轴承、轴承盖依次安装于上支架下端内侧和下支架之间。
  10. 如权利要求4-9中任一项所述的脚踝辅助外骨骼支架，其特征在于，所述的上支架的本体上设置有安装固定牵引线缆的安装部；所述的下支架的脚后跟支撑臂上设置有安装固定牵引线缆的安装部。
PCT/CN2022/138032 2022-04-07 2022-12-09 脚踝辅助外骨骼支架 WO2023193464A1 (zh)

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