WO2024239603A1 - 一种用于脑瘫儿童的多关节柔性下肢外骨骼 - Google Patents

一种用于脑瘫儿童的多关节柔性下肢外骨骼 Download PDF

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Publication number
WO2024239603A1
WO2024239603A1 PCT/CN2023/137618 CN2023137618W WO2024239603A1 WO 2024239603 A1 WO2024239603 A1 WO 2024239603A1 CN 2023137618 W CN2023137618 W CN 2023137618W WO 2024239603 A1 WO2024239603 A1 WO 2024239603A1
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WO
WIPO (PCT)
Prior art keywords
hip
ankle
knee
drive
calf
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Ceased
Application number
PCT/CN2023/137618
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English (en)
French (fr)
Inventor
曹武警
吴新宇
杜思达
陈春杰
徐天添
尹猛
马跃
李金科
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Shenzhen Institute of Advanced Technology of CAS
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Shenzhen Institute of Advanced Technology of CAS
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Publication of WO2024239603A1 publication Critical patent/WO2024239603A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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—Program-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
    • F16H19/001—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for conveying reciprocating or limited rotary motion
    • F16H19/003—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for conveying reciprocating or limited rotary motion comprising a flexible member
    • F16H19/005—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for conveying reciprocating or limited rotary motion comprising a flexible member for conveying oscillating or limited rotary motion
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal
    • A61H2201/1642—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • A61H2201/1652—Harness
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5084—Acceleration sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/08—Trunk
    • A61H2205/085—Crotch
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/10—Leg
    • A61H2205/102—Knee
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/12—Feet

Definitions

  • the invention belongs to the field of auxiliary exoskeletons, and in particular relates to a multi-joint flexible lower limb exoskeleton for children with cerebral palsy.
  • Cerebral palsy (CP) in children is a movement disorder caused by non-progressive damage to the central nervous system during the perinatal period. People with CP show characteristics including spasticity, stiffness, and decreased coordination and motor control. While therapeutic training is used to restore and improve the patient's functional walking ability, it is also necessary to improve the patient's lower limb walking ability through external assistance in daily life. The common assistance of crutches limits the patient's range of motion, and the user experience and psychological respect also need to be improved.
  • the relatively safe wearable dynamic flexible exoskeleton provides a new way for children with cerebral palsy to assist in walking in daily life.
  • the rigid-structured exoskeleton has strong multi-degree-of-freedom and multi-gait-stage assistance functions, but the overall weight and volume are large.
  • most of the existing flexible exoskeleton multi-joint linkage assistance structures are hip-ankle joint linkage, which is somewhat different from the needs of children with cerebral palsy.
  • the present invention provides a multi-joint flexible lower limb exoskeleton for children with cerebral palsy, which respectively assists the patient's hip and knee joints in multiple gait stages and the patient's ankle joints in multiple gait stages, effectively assisting the patient in walking.
  • the overall volume and weight of the exoskeleton are reduced, and the main structure and weight are located on the patient's waist and back, close to the center of mass, which puts less burden on the patient.
  • An embodiment of the present invention provides a multi-joint flexible lower limb exoskeleton for children with cerebral palsy, comprising:
  • the driving system includes a backpack frame assembly, and a hip-knee driving module, an ankle driving module, a system electronic control assembly, and a backpack auxiliary assembly arranged on the backpack frame assembly.
  • the backpack frame assembly includes a backpack frame, a front backpack shield and a rear backpack shield; the system electronic control assembly and the backpack auxiliary assembly are installed on the backpack frame assembly; the front backpack shield is installed on the front side of the backpack frame, and the rear backpack shield is installed on the rear side of the backpack frame.
  • the system electronic control assembly includes a main control board, a Bluetooth module, a control screen and a battery pack.
  • the main control board, the Bluetooth module and the battery pack are all fixedly installed on the inner side of the backpack frame, and the control screen is fixedly installed on the front side of the front plate of the backpack frame.
  • the hip-knee drive module and the ankle drive module respectively include two symmetrical left and right drive units; the drive unit of the hip-knee drive module includes a hip-knee drive motor and two transmission components; the hip-knee linkage rope drive mechanism includes two symmetrical units, each unit includes a thigh wear component, a calf wear component, a rear drive path component and a front drive path component.
  • the hip-knee drive motor generates pressure on the thigh wear component and tension on the calf wear component through a transmission component and a rear drive path component, thereby generating assist torques for the hip joint and the knee joint respectively; the hip-knee drive motor generates pressure on the calf wear component and tension on the thigh wear component through another transmission component and a front drive path component, thereby generating assist torques for the hip joint and the knee joint respectively.
  • the ankle assist mechanism includes a foot structure, an ankle cable drum and an ankle Bowden cable; the foot structure is rotatably connected to the ankle shaft hole of the calf wear component through a pin shaft, one end of the inner line of the foot Bowden cable is connected to the driving unit of the ankle driving module, and the other end is fixed on the ankle cable drum; the ankle driving module drives the foot Bowden cable to drive the ankle cable drum to rotate, thereby causing the foot structure to generate an assist torque.
  • the transmission assembly of the drive unit of the hip-knee drive module includes a hip-knee drive sprocket assembly and a hip-knee chain rope assembly;
  • the hip-knee drive sprocket assembly includes a hip-knee drive coupling, a one-way clutch, a hip-knee drive sprocket and an axis end baffle; wherein the hip-knee drive coupling is installed on the output flange of the hip-knee drive motor, the two hip-knee drive sprockets are sequentially mounted on the shaft diameter of the hip-knee drive coupling through a one-way clutch, the two one-way clutches are installed in back to back directions, and the axis end baffle is installed on the shaft end of the hip-knee drive coupling through screws to axially fix the various components of the hip-knee drive sprocket assembly.
  • the hip-knee chain rope assembly includes a hip-knee forward drive chain, a chain rope connecting block, a hip-knee forward drive rope, a hip-knee reverse drive chain, and a hip-knee reverse drive rope; the hip-knee forward drive chain and the hip-knee reverse drive chain are respectively cooperated with two hip-knee drive sprockets by chain transmission, and one end of the two chains is fixed to the fixing hole of the hip-knee drive sprocket by pins, and the hip-knee forward drive rope and the hip-knee reverse drive rope are respectively connected to the other end of the hip-knee forward drive chain and the hip-knee reverse drive chain through the chain rope connecting block.
  • the thigh wearable component includes a thigh structure, an adjustable pressure block, a thigh strap and a thigh gyroscope sensor; the thigh structure and the thigh strap are connected, the adjustable pressure block can be adjustably assembled on the mounting hole row on the thigh structure, and the thigh gyroscope sensor is installed in the front slot of the thigh structure.
  • the calf wearable component includes a calf structure, a calf pulley assembly, a calf strap, a calf Bowden cable anchor point and a calf gyroscope sensor; wherein the calf structure and the calf strap are connected, the calf pulley assembly is installed on the upper cantilever of the calf structure, the calf Bowden cable anchor point is fixed to the outside of the calf structure, and the calf gyroscope sensor is installed in the front slot of the calf structure.
  • the calf pulley assembly includes a calf pulley, a positioning shaft, a swing slot plate, a wire pressing wheel, a friction block and a positioning stud;
  • the positioning shaft passes through the axial hole at the end of the cantilever of the calf structure and can rotate freely, the calf pulley is placed on the inner side of the cantilever of the calf structure and forms an axial hole clearance with the positioning shaft and can rotate freely, the slot holes on both sides of the swing slot plate are sleeved and installed on both sides of the calf pulley and can swing freely,
  • the wire pressing wheel is installed in the long hole below the calf pulley through the axial screw and nut, and the friction block and the positioning stud are positioned and installed in the hole of the support plate below the long hole through the nut.
  • the rear drive path component includes a forward drive Bowden cable, a rear tension sensor, a rear splitter, and a rear execution Bowden cable; wherein the forward drive Bowden cable is connected to the hip and knee forward drive rope of the exoskeleton drive system, and the other end is fixed to a mounting hole on one side of the rear tension sensor, and the mounting hole on the other side of the rear tension sensor is fixedly connected to the median axis of the rear splitter, and the steel wire rope of the rear execution Bowden cable passes through the arc tube of the rear splitter and can slide freely, and the steel wire rope of the rear execution Bowden cable extending from its sheath on both sides of the thigh passes through the slide slot hole of the adjustable pressure block located on the thigh wear component, and at the end passes through the radial holes on both sides of the positioning axis in the calf wear component and is locked by a set screw.
  • the front drive path component includes a reverse drive Bowden cable, a front tension sensor, a braided rope, a front splitter and a front execution cable; wherein the reverse drive Bowden cable is connected to the hip and knee reverse drive rope of the exoskeleton drive system, and the other end is fixed to a mounting hole on one side of the front tension sensor, and the mounting hole on the other end of the front tension sensor is fastened to the braided rope, and the path of the braided rope needs to pass through the limiting groove of the swing slot plate in the calf wearable component in sequence, wrap around the calf pulley, wrap out of the calf pulley and connect to the front splitter, and the front execution cable should pass through the arc tube of the front splitter and have both ends fastened to both sides of the thigh structure in the thigh wearable component.
  • the driving unit of the ankle driving module includes an ankle driving motor, an ankle driving sprocket assembly, an ankle chain assembly and an ankle driving tensioning assembly; wherein the ankle driving sprocket assembly is mounted on the output flange of the ankle driving motor, and the ankle chain assembly and the ankle driving sprocket assembly are mounted in a chain drive cooperation;
  • the ankle drive sprocket assembly comprises an ankle drive coupling and an ankle drive sprocket, and the ankle drive sprocket is fixedly connected to the output flange of the ankle drive motor through the ankle drive coupling.
  • the ankle chain rope assembly includes an ankle driving chain, a chain rope connecting block, an ankle driving rope I and an ankle driving rope II.
  • the ankle driving chain cooperates with the ankle driving sprocket by chain transmission.
  • the ankle driving rope I and the ankle driving rope II are respectively connected to the two ends of the ankle driving chain through the chain rope connecting block.
  • the ankle assist mechanism also includes an ankle encoder and a foot strap; the positioning holes on the upper ends of the vertical plates on both sides of the foot structure are rotatably connected to the ankle axis holes of the calf structure in the calf wearing assembly through pins, the ankle cable drum is fixed on the foot structure, the ankle encoder housing is coaxially fixed to the outside of the ankle cable drum, and the rotating shaft of the ankle encoder is fixed to the calf structure through a set screw; the sheath of the foot Bowden cable is fixed to the calf Bowden cable anchor point, one end of the inner cable is connected to the ankle drive rope I and ankle drive rope II in the ankle drive module, and the other end is fixed to the ankle cable drum.
  • the backpack auxiliary component includes a heat dissipation module, a Bowden cable clamp and a waist support block; wherein the two heat dissipation modules are respectively installed on the front surface of the front backpack shield and the upper surface of the rear backpack shield, the Bowden cable clamp is respectively installed on the front plate and the rear plate of the rack for fixing the sheath of the Bowden cable, and the waist support block is adjusted and installed on the rear backpack shield.
  • the hip-knee drive module includes a hip-knee drive tensioning assembly, which includes a chain clamping block I, a chain clamping block II, a tensioning connecting block, a constant force spring, a tensioning assembly pin and a sliding positioning plate.
  • the chain clamping block I and the chain clamping block II are installed in pairs on the front plate of the backpack frame to adjust and position the hip-knee forward drive chain and the hip-knee reverse drive chain.
  • the fixed hole ends of the two tensioning connecting blocks are respectively fixed to the two chain rope connecting blocks by set screws, and the sub-plate of the constant force spring is fixed to the other end of the tensioning connecting block by screws.
  • the two constant force springs are rotatably installed on the tensioning assembly pin in turn, and the tensioning assembly pin is fixed to the front plate of the backpack frame.
  • the present invention adopts a highly flexible wearing structure and a flexible transmission structure based on a Bowden cable, which effectively improves the safety and portability of the exoskeleton;
  • the present invention uses a single drive motor in conjunction with a flexible transmission mechanism based on a Bowden cable to provide linkage assistance to the hip joint and the knee joint in the two gait stages of standing extension and swing extension, thereby meeting the main needs of children with cerebral palsy for walking assistance and having the advantages of light weight and small size;
  • the torque of the present invention for the linkage assistance of the hip and knee joints can be adjusted by adjusting the adjustable structure on the exoskeleton to change the assistance distribution, so as to better adapt to the different crouching gait characteristics of children with cerebral palsy and improve the walking assistance effect;
  • the exoskeleton robot of the present invention which can actively assist the three joints of the patient's lower limbs, namely the hip, knee and ankle, has a smaller weight and volume, and puts less burden on the patient.
  • FIG1 is a diagram of a human body wearing the flexible lower limb exoskeleton for children with cerebral palsy proposed by the present invention
  • FIG2 is an overall view of the flexible lower limb exoskeleton for children with cerebral palsy proposed by the present invention
  • FIG3 is a main structural diagram of the driving system of the flexible lower limb exoskeleton for children with cerebral palsy proposed by the present invention.
  • FIG4 is an overall view of the hip-knee drive module
  • FIG5 is a detailed structural view of the hip-knee drive module
  • FIG6 is an overall view of the ankle drive module
  • FIG7 is an overall view and component structure diagram of the hip-knee linkage rope drive mechanism
  • FIG8 is a detailed structural view of the hip-knee linkage rope drive mechanism
  • FIG9 is a side cross-sectional view of the specific structure of the hip-knee linkage rope drive mechanism
  • FIG10 is a front cross-sectional view of the specific structure of the hip-knee linkage rope drive mechanism
  • FIG. 11 is a main structural diagram of the ankle power-assisting mechanism.
  • Hip-knee drive module 1200 hip-knee drive motor 1201, hip-knee drive sprocket assembly 1220, hip-knee drive coupling 1221, one-way clutch 1222, hip-knee drive sprocket 1223, shaft end baffle 1224,
  • Hip-knee chain rope assembly 1230 hip-knee forward drive chain 1231, chain rope connecting block 1232, hip-knee forward drive rope 1233, hip-knee reverse drive chain 1234, hip-knee reverse drive rope 1235,
  • Hip-knee drive tensioning assembly 1240 chain clamping block I 1241, chain clamping block II 1242, tensioning connection block 1243, constant force spring 1244, tensioning assembly pin 1245, sliding positioning plate 1246,
  • System electronic control components 1400 main control board 1401, Bluetooth module 1402, control screen 1403, battery pack 1404,
  • Heat dissipation module 1501 Bowden wire clip 1502, waist support block 1503,
  • Thigh wearable component 2100 thigh structure 2101, adjustable pressure block 2102, thigh strap 2103, thigh gyroscope sensor 2104,
  • calf wearable component 2200 calf wearable component 2200, calf structural component 2201, calf pulley component 2220, calf pulley 2221, positioning shaft 2222, swing slot plate 2223, wire pressing wheel 2224, friction block 2225, positioning stud 2226, calf strap 2203, calf Bowden line anchor point 2204, calf gyroscope sensor 2205,
  • Front drive path assembly 2400 reverse drive Bowden cable 2401, front tension sensor 2402, braided rope 2403, front splitter 2404, front execution cable 2305,
  • Ankle assist mechanism 3000 foot structure 3001 , ankle cable drum 3002 , ankle encoder 3003 , ankle torque sensor 3004 , foot strap 3005 , ankle Bowden cable 3006 .
  • the terms “installed”, “connected”, and “connected” should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium.
  • installed e.g., it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium.
  • the present embodiment provides a multi-joint flexible lower limb exoskeleton for children with cerebral palsy, see Figures 1 and 2, mainly including a drive system 1000, a hip-knee linkage rope drive mechanism 2000, and an ankle power-assist mechanism 3000.
  • the drive system 1000 is worn on the patient's lower back and waist, and the drive system 1000 is connected to the hip-knee linkage rope drive mechanism 2000 and the ankle power-assist mechanism 3000 through a drive path, respectively.
  • the hip-knee linkage rope drive mechanism 2000 is worn on the patient's lower limb thigh and calf, and the ankle power-assist mechanism 3000 is worn on the patient's foot and is connected to the hip-knee linkage rope drive mechanism 2000 and the ankle joint.
  • the drive system 1000 mainly includes a backpack frame assembly 1100, a hip-knee drive module 1200, an ankle drive module 1300, a system electronic control assembly 1400, and a backpack auxiliary assembly.
  • the hip-knee driving module 1200 and the ankle driving module 1300 respectively include two symmetrical driving units on the left and right, respectively providing driving paths for the corresponding legs on one side of the exoskeleton.
  • the backpack frame assembly 1100 includes a backpack frame 1101, a front backpack shield 1102, and a rear backpack shield 1103.
  • the front backpack shield 1102 is installed on the front side of the backpack frame 1101, and the rear backpack shield 1103 is installed on the rear side of the backpack frame 1101.
  • the system electronic control assembly 1400 and the backpack auxiliary assembly are installed on the backpack frame assembly 1101.
  • the hip-knee drive module 1200 mainly includes a hip-knee drive motor 1201, a hip-knee drive sprocket assembly 1220, a hip-knee chain rope assembly 1230 and a hip-knee drive tensioning assembly 1240.
  • the hip-knee drive motor 1201 is fixedly mounted on the inner side of the front plate of the backpack frame 1101
  • the hip-knee drive sprocket assembly 1220 is installed on the output flange of the hip-knee drive motor 1201
  • the hip-knee chain rope assembly 1230 and the hip-knee drive sprocket assembly 1220 are installed in conjunction with chain drive.
  • the hip-knee drive sprocket assembly 1220 mainly includes a hip-knee drive coupling 1221, a one-way clutch 1222, a hip-knee drive sprocket 1223 and an end-shaft stopper 1224.
  • the hip-knee drive coupling 1221 is mounted on the output flange of the hip-knee drive motor 1201, and the two hip-knee drive sprockets 1223 are sequentially sleeved on the shaft diameter of the hip-knee drive coupling 1221 through the one-way clutch 1222.
  • the two one-way clutches 1222 are installed in reverse, and the end-shaft stopper 1224 is installed on the shaft end of the hip-knee drive coupling 1221 by screws, axially fixing the various parts of the hip-knee drive sprocket assembly 1220.
  • the hip-knee chain rope assembly 1230 mainly includes a hip-knee forward drive chain 1231, a chain rope connection block 1232, a hip-knee forward drive rope 1233, a hip-knee reverse drive chain 1234, and a hip-knee reverse drive rope 1235.
  • the hip-knee forward drive chain 1231 and the hip-knee reverse drive chain 1234 are respectively matched with two hip-knee drive sprockets 1223 by chain transmission and one end is fixed to the fixing hole of the hip-knee drive sprocket 1223 by a pin, and the hip-knee forward drive rope 1233 and the hip-knee reverse drive rope 1235 are respectively connected to the other ends of the hip-knee forward drive chain 1231 and the hip-knee reverse drive chain 1234 by the chain rope connection block 1232.
  • the hip-knee drive tensioning assembly 1240 mainly includes a chain clamping block I 1241, a chain clamping block II 1242, a tensioning connection block 1243, a constant force spring 1244, a tensioning assembly pin 1245 and a sliding positioning plate 1246.
  • the chain clamping block I 1241 and the chain clamping block II 1242 are installed in pairs on the front plate of the backpack frame 1101 to adjust and position the hip-knee forward drive chain 1231 and the hip-knee reverse drive chain 1234.
  • the fixed hole ends of the two tensioning connection blocks 1243 are respectively fixed to the two chain rope connection blocks 1232 by set screws, and the sub-plate of the constant force spring 1244 is fixed to the other end of the tensioning connection block 1243 by screws.
  • the two constant force springs 1244 are rotatably installed on the tensioning assembly pin 1245 in turn, and the tensioning assembly pin 1245 is fixed to the front plate of the backpack frame 1101.
  • the ankle driving module 1300 mainly includes an ankle driving motor 1301, an ankle driving sprocket assembly 1320, an ankle chain assembly 1330 and an ankle driving tensioning assembly 1340.
  • the ankle driving motor 1301 is fixedly mounted on the inner side of the back plate of the backpack frame 1101
  • the ankle driving sprocket assembly 1320 is mounted on the output flange of the ankle driving motor 1301
  • the ankle chain assembly 1330 and the ankle driving sprocket assembly 1320 are installed in a chain drive.
  • the ankle drive sprocket assembly 1320 mainly includes an ankle drive coupling 1321 and an ankle drive sprocket 1322, and the ankle drive sprocket 1322 is fixedly connected to the output flange of the ankle drive motor 1301 through the ankle drive coupling 1321.
  • the ankle chain rope assembly 1330 mainly includes an ankle drive chain 1331, a chain rope connecting block 1232, an ankle drive rope I 1332 and an ankle drive rope II 1333, the ankle drive chain 1331 and the ankle drive sprocket 1322 cooperate in chain transmission, and the ankle drive rope I 1332 and the ankle drive rope II 1333 are respectively connected to the two ends of the ankle drive chain 1331 through the chain rope connecting block 1232.
  • the ankle drive tensioning assembly 1340 mainly includes a chain pressing block III 1341 and a chain pressing block IV 1342 .
  • the chain pressing block III 1341 and the chain pressing block IV 1342 are installed in pairs on the rear plate of the backpack frame 1101 to adjust and position the ankle drive chain 1331 .
  • the system electric control component 1400 mainly includes a main control board 1401, a Bluetooth module 1402, a control screen 1403 and a battery pack 1404.
  • the main control board 1401, the Bluetooth module 1402 and the battery pack 1404 are all fixedly mounted on the inner side of the backpack frame 1101, and the control screen 1403 is fixedly mounted on the front side of the front plate of the backpack frame 1101.
  • the battery pack 1404 is used to provide electrical energy.
  • the Bluetooth module 1402 is used to receive signals from the thigh gyroscope sensor 2104 and the calf gyroscope sensor 2205, and transmit them to the main control board 1401.
  • the main control board 1401 is used to receive and process the signals of each sensor, and control the hip and knee drive motor 1201 and the ankle drive motor 1301 according to a preset program to drive the exoskeleton system and provide assistance to the patient.
  • the control screen 1403 is used to display the patient's current lower limb joint motion angle and power estimation value, and provides an operation bar for correcting the power torque of the hip and knee drive motors 1201 and the ankle drive motors 1301 at different power stages, so as to update the setting parameters of the program in the main control panel 1401 and help the exoskeleton system to better assist the power.
  • the backpack auxiliary component mainly includes a heat dissipation module 1501, a Bowden cable clamp 1502 and a waist support block 1503.
  • Two of the heat dissipation modules 1501 are respectively installed on the front surface of the front backpack shield 1102 and the upper surface of the rear backpack shield 1103 for heat dissipation.
  • Eight Bowden cable clamps 1502 are respectively installed on the front plate of the rack 1101 and the rear plate of the rack 1101 for fixing the sheath of the Bowden cable.
  • the waist support block 1503 is adjusted and installed on the rear backpack shield 1103, and the specific position of the rear backpack shield 1103 is determined according to the patient's body shape.
  • the hip-knee linkage rope drive mechanism 2000 mainly includes a thigh wear component 2100, a calf wear component 2200, a rear drive path component 2300 and a front drive path component 2400.
  • the thigh wear component 2100 and the calf wear component 2200 in the hip-knee linkage rope drive mechanism are respectively worn on the thigh and calf of the patient, and the binding structure that partially fits the patient's skin can be customized according to the patient's body shape.
  • the driving end of the rear drive path component 2300 is connected to the hip-knee forward drive rope 1233 of the exoskeleton drive system 1000, and the Bowden cable sheath is positioned at the patient's lower limbs through anchor points A1, A2, A3, and A4, and the end is fixedly locked at O1 on the calf wear component 2200.
  • the driving end of the front drive path component 2400 is connected to the hip-knee reverse drive rope 1235 of the exoskeleton drive system 1000, and the Bowden cable sheath is positioned at the patient's lower limbs through anchor point B1, and the end is fixedly locked at O2 on the thigh wear component 2100.
  • the thigh wearable assembly 2100 includes a thigh structure 2101, an adjustable pressure block 2102, a thigh strap 2103 and a thigh gyroscope sensor 2104.
  • the thigh structure 2101 and the thigh strap 2103 are worn in combination at an appropriate position of the patient's thigh and fixed up and down by a wearing structure not shown, the adjustable pressure block 2102 can be adjusted and assembled on the mounting hole array on the thigh structure 2101, and the thigh gyroscope sensor 2104 is installed in the front card slot of the thigh structure 2101.
  • the calf wear assembly 2200 includes a calf structure 2201, a calf pulley assembly 2220, a calf strap 2203, a calf Bowden line anchor 2204, and a calf gyroscope sensor 2205.
  • the calf structure 2201 and the calf strap 2203 are combined and worn at an appropriate position on the patient's calf
  • the calf pulley assembly 2220 is mounted on the upper cantilever of the calf structure 2201
  • the calf Bowden line anchor 2204 is fixed to the outside of the calf structure 2201
  • the calf gyroscope sensor 2205 is installed in the front slot of the calf structure 2201.
  • the calf pulley assembly 2220 is shown in Figures 9 and 10, and mainly includes a calf pulley 2221, a positioning shaft 2222, a swing slot plate 2223, a line pressing wheel 2224, a friction block 2225 and a positioning stud 2226.
  • the positioning shaft 2222 passes through the shaft hole at the end of the cantilever of the calf structure 2201 and can rotate freely, and the two ends are respectively positioned by a shaft shoulder and an elastic retaining ring.
  • the calf pulley 2221 is placed on the inner side of the cantilever of the calf structure 2201, and forms a shaft hole clearance with the positioning shaft 2222 and can rotate freely.
  • the two side slots of the swing slot plate 2223 are sleeved and installed on both sides of the calf pulley 2221 and can swing freely.
  • the line pressing wheel 2224 is installed in the long hole below the calf pulley 2221 through an axial screw and a nut, and the friction block 2225 and the positioning stud 2226 are positioned and installed in the hole of the support plate below the long hole through a nut.
  • the rear driving path assembly 2300 mainly includes a forward driving Bowden cable 2301 , a rear tension sensor 2302 , a rear wire splitter 2303 , and a rear execution Bowden cable 2304 .
  • the forward drive Bowden cable 2301 is connected to the hip and knee forward drive rope 1233 of the exoskeleton drive system 1000, and the other end is fixed to the mounting hole on one side of the rear tension sensor 2302.
  • the mounting hole on the other side of the rear tension sensor 2302 is fixedly connected to the median axis of the rear wire divider 2303.
  • the steel wire rope of the rear execution Bowden cable 2304 passes through the arc tube of the rear wire divider 2303 and can slide freely.
  • the two ends of the Bowden cable 2304 are symmetrically fixed at the patient's hips and legs at anchor points A1, A2, A3, and A4.
  • the steel wire rope of the rear execution Bowden cable 2304 extending from its sheath on both sides of the thigh passes through the slide slot hole of the adjustable pressure block 2102 on the thigh wear component 2100, and at the end passes through the radial holes on both sides of the positioning shaft 2222 in the calf wear component 2200, and is locked by set screws, that is, at the pulling point O1 of the rear drive path component 2300.
  • the front drive path assembly 2400 mainly includes a reverse drive Bowden cable 2401 , a front tension sensor 2402 , a braided rope 2403 , a front wire splitter 2404 and a front execution line 2305 .
  • the reverse drive Bowden cable 2401 is connected to the hip and knee reverse drive rope 1235 of the exoskeleton drive system 1000, and the other end is fixed to the mounting hole on one side of the front tension sensor 2402.
  • the mounting hole at the other end of the front tension sensor 2402 is fastened with the braided rope 2403.
  • the path of the braided rope 2403 needs to pass through the limiting groove of the swing slot plate 2223 in the calf wear component 2200 in turn, wrap around the calf pulley 2221, wrap out of the calf pulley 2221 and connect to the front divider 2404.
  • the front execution line 2305 should pass through the arc tube of the front divider 2404 and fasten both ends to the pulling point O2 on both sides of the thigh structure 2101 in the thigh wear component 2100.
  • the ankle assist mechanism 3000 mainly includes a foot structure 3001, an ankle cable drum 3002, an ankle encoder 3003, an ankle torque sensor 3004, a foot strap 3005 and an ankle Bowden cable 3006.
  • the foot structure 3001 is worn on the patient's foot in conjunction with the foot strap 3005.
  • the positioning holes on the upper ends of the vertical plates on both sides of the foot structure 3001 are rotatably connected to the ankle axis holes of the calf structure 2201 in the calf wearing assembly 2200 through pins, allowing a small amount of axial clearance.
  • the ankle reel 3002 and the foot structure 3001 are fixedly connected with screws through the flange holes on the ankle encoder 3003. In particular, if it is not necessary to measure the ankle torque, it can be fixedly connected through the positioning holes on the vertical plates of the foot structure 3001.
  • the material of the thigh structure 2101 and the calf structure 2201 is preferably PA12 or carbon fiber material
  • the Bowden cable is preferably a steel wire rope with an inner line of 1.2 mm
  • the outer sheath is preferably a combination of a PVC lining and a high-carbon steel inner layer
  • the calf pulley 2221 is preferably an organic material with a certain hardness and lubricity such as polyethylene
  • the wire pressing wheel 2224 and the friction block 2225 are preferably rubber materials.
  • the braided rope 2403 and the front side execution line 2305 are preferably braided rope types with good flexibility and a certain friction coefficient.
  • this embodiment When in use, this embodiment should be worn on the patient's lower back and lower back, and each drive path is connected to each transmission structure, and is controlled by the operation screen 1403 or a set program.
  • the present invention mainly provides three types of auxiliary assistance to the patient's forward gait cycle: extension assistance to the hip and knee joints in the standing extension gait stage, flexion assistance to the hip joint and extension assistance to the knee joint in the swing extension gait stage, and dorsiflexion or plantar flexion assistance to the ankle joint according to the patient's gait characteristics.
  • the main control board 1401 When assisting the patient's hip and knee joints in the standing and stretching gait stage, the main control board 1401 receives and processes the signals from the thigh gyroscope sensor 2104, the calf gyroscope sensor 2205 and the ankle encoder 3003, determines that the current patient's movement state is the standing and stretching gait stage, and controls the hip and knee drive motor 1201 to rotate forward according to the preset program and the input signal of the control screen 1403, and the hip and knee drive sprocket 1223 that cooperates with the hip and knee forward drive chain 1231 is in meshing state due to its corresponding one-way clutch 1222 state, pulling the hip-knee forward drive rope 1233, the hip-knee drive sprocket 1223 cooperating with the hip-knee reverse drive chain 1234 has no additional driving force because its corresponding one-way clutch 1222 is in the overtravel state, thereby pulling the forward drive Bowden cable 2301 of the rear drive path component 2300, causing the
  • the inner line of the rear-side Bowden cable 2304 extending out of the outer sheath passes through the slide slot hole of the adjustable pressure block 2102 on the thigh wear component 2100 and the end of the line is locked in the radial holes on both sides of the positioning shaft 2222 in the calf wear component 2200, respectively, through the internal tension component of the wire rope, pressure is generated on the thigh wear component 2100 and tension is generated on the calf wear component 2200, thereby generating power torques for the patient's hip joint and knee joint respectively.
  • the power distribution of the exoskeleton to the patient's thigh can be achieved by changing the positioning of the adjustable pressure block 2102 on the thigh wear component 2100, thereby changing the angle change of the rear-side Bowden cable 2304 when passing through the adjustable pressure block 2102, and changing the size of the thigh power.
  • the main control board 1401 When assisting the patient's hip and knee joints in the swing-extension gait stage, the main control board 1401 receives and processes the signals from the thigh gyroscope sensor 2104, the calf gyroscope sensor 2205 and the ankle encoder 3003, determines that the patient's movement state is in the swing-extension gait stage, and controls the hip and knee drive motor 1201 to reverse according to the preset program and the input signal of the control screen 1403.
  • the hip and knee drive sprocket 1223 that cooperates with the hip and knee reverse drive chain 1234 is rotated due to its corresponding one-way clutch.
  • the clutch 1222 is in meshing state, pulling the hip-knee reverse drive rope 1235, and the hip-knee drive sprocket 1223 matched with the hip-knee forward drive chain 1231 is in overtravel state because its corresponding one-way clutch 1222 is in overtravel state, and the hip-knee forward drive rope 1233 has no additional driving force, and pulls the reverse drive Bowden cable 2401 of the front drive path component 2400, driving the braided rope 2403 to produce displacement, and at the same time, the front tension sensor 2402 measures the pulling force in the front drive path component 2400 in real time.
  • the braided rope 2403 is in a tensioned state and simultaneously bypasses the calf pulley 2221 in the calf wear component 2200 and pulls the front execution line 2305 through the front wire splitter 2404, respectively generating pressure on the calf pulley 2221 and tension on the thigh structure 2101, thereby generating power torques on the patient's hip joint and knee joint respectively.
  • the exoskeleton can distribute the power to the patient's thigh by changing the friction block 2225 and the positioning stud 2226 on the calf wear component 2200 to tighten the braided rope 2403 in the upper wire groove of the calf pulley 2221, so as to significantly reduce the power torque of the exoskeleton on the patient's hip joint. It is particularly important to note that when adjusting the positioning stud 2226, it is necessary to ensure that the braided rope and the front side execution line 2305 are in a relaxed state to prevent the exoskeleton from affecting the movement space of the patient's knee joint.
  • the ankle drive motor 1301 rotates, driving the ankle chain assembly 1330 through the ankle drive sprocket 1322, so that the driving paths of the ankle drive rope I 1332 and the ankle drive rope II 1333 move relative to each other, driving the ankle Bowden cable 3006 to drive the ankle cable reel 3002 to rotate, so that the foot structure 3001 generates an assist torque on the patient's ankle.
  • the control screen 1403 displays the estimated angle value of the patient's lower limb hip, knee and ankle joints and the current estimated assist value for the patient's hip, knee and ankle joints, and provides a control bar for correcting some parameters of the preset program in the main control panel 1401.
  • the control bar should be gradually adjusted according to the feedback of the patient's walking training after wearing the exoskeleton.

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Abstract

一种用于脑瘫儿童的多关节柔性下肢外骨骼，包括驱动系统（1000）、髋膝联动绳驱机构（2000）、踝部助力机构（3000）；驱动系统（1000）包括背包机架组件（1100）、髋膝驱动模块（1200）、踝部驱动模块（1300）、系统电控组件（1400）和背包辅助组件；髋膝驱动电机（1201）通过后侧驱动路径组件（2300）对大腿穿戴组件（2100）产生压力和对小腿穿戴组件（2200）产生拉力，分别产生髋关节和膝关节的助力力矩；髋膝驱动电机（1201）通过前侧驱动路径组件（2400）分别对小腿穿戴组件（2200）产生压力和对大腿穿戴组件（2100）产生拉力，分别产生髋关节和膝关节的助力力矩，踝部驱动模块（1300）带动踝部鲍登线（3006）驱动踝部线盘（3002）转动，使足部结构件（3001）产生助力力矩。该用于脑瘫儿童的多关节柔性下肢外骨骼采用柔性联动传动结构，减少了外骨骼整体的体积重量，且主要结构和重量位于患者腰背部，接近质心，对患者负担较小。

Description

一种用于脑瘫儿童的多关节柔性下肢外骨骼 技术领域
本发明属于辅助外骨骼领域，具体涉及一种用于脑瘫儿童的多关节柔性下肢外骨骼。
 背景技术
儿童脑性瘫痪(脑瘫)是一种围产期中枢神经系统非进行性损伤引起的运动障碍疾病，患有脑瘫的人表现出包括痉挛、僵硬、协调能力和运动控制减弱等特征。在通过治疗训练恢复改善患者功能性行走能力的同时，也需要在日常生活中通过外部辅助改善患者的下肢步行运动能力。常见的通过拐杖辅助对患者活动范围有限制，使用感受和心理尊重也有待改善。较为安全的可穿戴动柔性外骨骼为脑瘫儿童患者日常生活中的步行辅助提供了一条新途径。
在脑瘫儿童的前行步态中，对不同下肢关节在不同步态阶段中有不同的助力需求。其中以在站立伸展阶段中，对髋关节伸展和膝关节伸展的助力需求最为重要，其次在摆动伸展阶段的髋膝关节联动助力和对踝关节的多步态阶段助力是脑瘫儿童患者的重要需求。
现有的康复辅助外骨骼机器人中，刚性结构的外骨骼具有较强的多自由度多步态阶段辅助功能，但整体重量和体积较大，柔性外骨骼对多自由度，尤其上多步态阶段辅助的能力有待提高，且现有的柔性外骨骼多关节联动助力结构多数为髋踝关节联动，与脑瘫儿童患者的需求有一定差异。
 技术问题
有鉴于此，本发明提供一种用于脑瘫儿童的多关节柔性下肢外骨骼，分别对患者的髋膝关节在多步态阶段进行助力和对患者的踝关节在多步态阶段进行助力，有效辅助患者步行,同时，因采用柔性联动传动结构，减少了外骨骼整体的体积重量，且主要结构和重量位于患者腰背部，接近质心，对患者负担较小。
 技术解决方案
本发明的实施例提供了一种用于脑瘫儿童的多关节柔性下肢外骨骼，包括：
包括驱动系统、髋膝联动绳驱机构、踝部助力机构；所述驱动系统包括背包机架组件，以及设置在背包机架组件上的髋膝驱动模块、踝部驱动模块、系统电控组件和背包辅助组件。
所述背包机架组件包括背包机架、前背包护罩和后背包护罩；系统电控组件、背包辅助组件安装于背包机架组件上；前背包护罩安装于背包机架前侧，后背包护罩安装于背包机架后侧。所述系统电控组件包括主控制板、蓝牙模块、操控屏和电池组，主控制板、蓝牙模块和电池组均固定安装于背包机架内侧，操控屏固定安装于背包机架前板前侧。
所述髋膝驱动模块和踝部驱动模块分别包括左右两个对称的驱动单元；所述髋膝驱动模块的驱动单元包括髋膝驱动电机和两个传动组件；所述髋膝联动绳驱机构包括左右对称的两个单元，每个单元包括大腿穿戴组件、小腿穿戴组件、后侧驱动路径组件和前侧驱动路径组件。
所述髋膝驱动电机通过一个传动组件、后侧驱动路径组件对大腿穿戴组件产生压力和对小腿穿戴组件产生拉力，进而分别产生髋关节和膝关节的助力力矩；所述髋膝驱动电机依次通过另一个传动组件前侧驱动路径组件分别对小腿穿戴组件产生压力和对大腿穿戴组件产生拉力，进而分别产生髋关节和膝关节的助力力矩。
踝部助力机构包括足部结构件、踝部线盘和踝部鲍登线；所述足部结构件通过销轴与小腿穿戴组件的踝部轴孔转动相连，所述足部鲍登线内线一端与踝部驱动模块的驱动单元相连，另一端固定于踝部线盘上；所述踝部驱动模块带动足部鲍登线驱动踝部线盘转动，从而使足部结构件产生助力力矩。
在一些实施例中，所述髋膝驱动模块的驱动单元的传动组件包括髋膝驱动链轮组件、髋膝链绳组件；所述髋膝驱动链轮组件包括髋膝驱动联轴器、单向离合器、髋膝驱动链轮和轴端挡片；其中髋膝驱动联轴器安装于髋膝驱动电机的输出法兰上，两个髋膝驱动链轮依次通过单向离合器套装于髋膝驱动联轴器的轴径上，两个单向离合器正反背向安装，轴端挡片通过螺钉安装于髋膝驱动联轴器的轴端，轴向固定髋膝驱动链轮组件的各件。
其中髋膝链绳组件包括髋膝正向驱动链条、链绳连接块、髋膝正向驱动绳、髋膝反向驱动链条、髋膝反向驱动绳；髋膝正向驱动链条和髋膝反向驱动链条分别与两个髋膝驱动链轮以链传动配合，并且两个链条的一端通过销固定于髋膝驱动链轮的固定孔，髋膝正向驱动绳和髋膝反向驱动绳分别通过链绳连接块连接于髋膝正向驱动链条和髋膝反向驱动链条的另一端。
在一些实施例中，所述大腿穿戴组件包括大腿结构件、可调压力块、大腿绑带和大腿陀螺仪传感器；大腿结构件和大腿绑带连接，可调压力块可调整装配于大腿结构件上的安装孔列上，大腿陀螺仪传感器安装于大腿结构件前侧卡槽内。
在一些实施例中，所述小腿穿戴组件包括小腿结构件、小腿滑轮组件、小腿绑带、小腿鲍登线锚点和小腿陀螺仪传感器；其中小腿结构件和小腿绑带连接，小腿滑轮组件安装于小腿结构件的上端悬臂上，小腿鲍登线锚点固定于小腿结构件外侧，小腿陀螺仪传感器安装于小腿结构件前侧卡槽内。
其中小腿滑轮组件包括小腿滑轮、定位轴、摆动槽板、压线轮、摩擦块和定位螺柱；定位轴穿过小腿结构件悬臂端部的轴孔且可自由转动，小腿滑轮置于小腿结构件悬臂内侧，并与定位轴形成轴孔间隙配合且自由转动，摆动槽板的两侧槽孔套接安装于小腿滑轮两侧且可自由摆动，压线轮通过轴位螺钉和螺母安装于小腿滑轮下方的长孔，同时摩擦块和定位螺柱通过螺母定位安装于长孔下方支撑板的孔内。
在一些实施例中，所述后侧驱动路径组件包括正向驱动鲍登线、后侧拉力传感器、后侧分线器、后侧执行鲍登线；其中正向驱动鲍登线与外骨骼驱动系统的髋膝正向驱动绳相连，另一端固定于后侧拉力传感器一侧安装孔，后侧拉力传感器另一侧安装孔与后侧分线器中位轴固连，后侧执行鲍登线的钢丝绳穿过后侧分线器的弧形管且可自由滑动，后侧执行鲍登线于大腿两侧伸出其线鞘的钢丝绳穿过位于大腿穿戴组件上的可调压力块的滑槽孔，并于末端穿过小腿穿戴组件中的定位轴两侧的径向孔内，通过紧定螺钉锁紧。
在一些实施例中，所述前侧驱动路径组件包括反向驱动鲍登线、前侧拉力传感器、编织绳、前侧分线器和前侧执行线；其中反向驱动鲍登线与外骨骼的驱动系统的髋膝反向驱动绳相连，另一端固定于前侧拉力传感器一侧安装孔，前侧拉力传感器另一端安装孔与编织绳系紧，编织绳的路径需依次通过小腿穿戴组件中的摆动槽板的限位槽，绕进小腿滑轮，绕出小腿滑轮并于前侧分线器相连，前侧执行线应穿过前侧分线器的弧形管并将两端系紧于大腿穿戴组件中大腿结构件两侧。
在一些实施例中，所述踝部驱动模块的驱动单元包括踝部驱动电机、踝部驱动链轮组件、踝部链绳组件和踝部驱动张紧组件；其中踝部驱动链轮组件安装于踝部驱动电机的输出法兰上，踝部链绳组件和踝部驱动链轮组件以链传动配合安装；
其中踝部驱动链轮组件包括踝部驱动联轴器和踝部驱动链轮，踝部驱动链轮通过踝部驱动联轴器固连于踝部驱动电机的输出法兰上。
其中踝部链绳组件包括踝部驱动链条、链绳连接块、踝部驱动绳Ⅰ和踝部驱动绳Ⅱ，踝部驱动链条与踝部驱动链轮以链传动配合，踝部驱动绳Ⅰ和踝部驱动绳Ⅱ分别通过链绳连接块连接于踝部驱动链条两端。
在一些实施例中，所述踝部助力机构还包括踝部编码器、足部绑带；所述足部结构件两侧竖板上端的定位孔通过销轴与小腿穿戴组件中的小腿结构件的踝部轴孔转动相连，踝部线盘固定于足部结构件上，踝部编码器壳体同轴固定于踝部线盘外侧，同时踝部编码器的转轴通过紧定螺钉与小腿结构件固定；足部鲍登线的线鞘固定于小腿鲍登线锚点，内线一端与踝部驱动模块中的踝部驱动绳Ⅰ和踝部驱动绳Ⅱ相连，另一端固定于踝部线盘上。
在一些实施例中，所述背包辅助组件包括散热模块、鲍登线夹和腰部支撑块；其中两个散热模块分别安装于前背包护罩前表面和后背包护罩上表面，鲍登线夹分别安装于机架前板和机架后板，用于固定鲍登线的线鞘，腰部支撑块调整安装于后背包护罩上。
在一些实施例中，所述髋膝驱动模块包括髋膝驱动张紧组件，所述髋膝驱动张紧组件包括链条压紧块Ⅰ、链条压紧块Ⅱ、张紧连接块、恒力弹簧、张紧组件销轴和滑动定位板，链条压紧块Ⅰ和链条压紧块Ⅱ成对安装于背包机架的前板，调整定位髋膝正向驱动链条和髋膝反向驱动链条，两个张紧连接块的固定孔端分别通过紧定螺钉固定于两个链绳连接块上，恒力弹簧的副板通过螺钉固定于张紧连接块的另一端，两个恒力弹簧依次转动安装于张紧组件销轴上，张紧组件销轴固装于背包机架的前板。
 有益效果
本发明的用于脑瘫儿童的多关节柔性下肢外骨骼至少具有下列有益效果：
1)本发明采用具有较高柔性的穿戴结构和基于鲍登线的柔性传动结构，有效提高了外骨骼的安全性和轻便性；
2)本发明通过单驱动电机配合基于鲍登线的柔性传动机构对髋关节和膝关节在站立伸展和摆动伸展两个步态阶段下进行联动助力，针对满足脑瘫儿童步行助力的主要需求，具有较好的重量轻体积小的优势；
3)本发明对髋膝关节进行联动助力的力矩可通过调整外骨骼上的可调结构，改变助力分配，更好地适应脑瘫儿童患者不同的蹲伏步态特征，提高步行辅助效果；
4)本发明在可对患者下肢髋膝踝三关节主动助力的外骨骼机器人中，具有较小的重量和体积，对患者负担较小。
上述说明仅是本发明技术方案的概述，为了能够更清楚了解本发明的技术手段，并可依照说明书的内容予以实施，以下以本发明的较佳实施例并配合附图详细说明如后。
 附图说明
为了更清楚地说明本发明实施例技术方案，下面将对实施例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发明的一些实施例，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为本发明提出的用于脑瘫儿童的柔性下肢外骨骼的人体穿戴图；
图2为本发明提出的用于脑瘫儿童的柔性下肢外骨骼的整体视图；
图3为本发明提出的用于脑瘫儿童的柔性下肢外骨骼的驱动系统主要结构图；
图4为髋膝驱动模块整体视图；
图5为髋膝驱动模块具体结构视；
图6为踝部驱动模块整体视图；
图7为髋膝联动绳驱机构的整体视图和组件结构图；
图8为髋膝联动绳驱机构的具体结构视图；
图9为髋膝联动绳驱机构具体结构的侧向剖视图；
图10为髋膝联动绳驱机构具体结构的正向剖视图；
图11为踝部助力机构的主要结构图。
图中附图标记如下：
背包机架组件1100，
背包机架1101、前背包护罩1102、后背包护罩1103，
髋膝驱动模块1200、髋膝驱动电机1201、髋膝驱动链轮组件1220、髋膝驱动联轴器1221、单向离合器1222、髋膝驱动链轮1223、轴端挡片1224，
髋膝链绳组件1230、髋膝正向驱动链条1231、链绳连接块1232、髋膝正向驱动绳1233、髋膝反向驱动链条1234、髋膝反向驱动绳1235，
髋膝驱动张紧组件1240、链条压紧块Ⅰ1241、链条压紧块Ⅱ1242、张紧连接块1243、恒力弹簧1244、张紧组件销轴1245、滑动定位板1246，
踝部驱动模块1300、踝部驱动电机1301、踝部驱动链轮组件1320、踝部驱动联轴器1321、踝部驱动链轮1322、踝部链绳组件1330、踝部驱动链条1331、踝部驱动绳Ⅰ1332、踝部驱动绳Ⅱ1333、踝部驱动张紧组件1340、链条压紧块Ⅲ1341、链条压紧块Ⅳ1342，
系统电控组件1400、主控制板1401、蓝牙模块1402、操控屏1403、电池组1404，
散热模块1501、鲍登线夹1502、腰部支撑块1503，
髋膝联动绳驱机构2000，
大腿穿戴组件2100、大腿结构件2101、可调压力块2102、大腿绑带2103、大腿陀螺仪传感器2104，
小腿穿戴组件2200、小腿结构件2201、小腿滑轮组件2220、小腿滑轮2221、定位轴2222、摆动槽板2223、压线轮2224、摩擦块2225、定位螺柱2226、小腿绑带2203、小腿鲍登线锚点2204、小腿陀螺仪传感器2205，
后侧驱动路径组件2300、正向驱动鲍登线2301、后侧拉力传感器2302、后侧分线器2303，后侧执行鲍登线2304，
前侧驱动路径组件2400、反向驱动鲍登线2401、前侧拉力传感器2402、编织绳2403、前侧分线器2404、前侧执行线2305，
踝部助力机构3000、足部结构件3001、踝部线盘3002、踝部编码器3003、踝部扭矩传感器3004、足部绑带3005、踝部鲍登线3006。
 本发明的最佳实施方式
为更进一步阐述本发明为达成预定发明目的所采取的技术手段及功效，以下结合附图及较佳实施例，对依据本发明申请的具体实施方式、结构、特征及其功效，详细说明如后。在下述说明中，不同的“一实施例”或“实施例”指的不一定是同一实施例。此外，一或多个实施例中的特定特征、结构、或特点可由任何合适形式组合。
在本发明的描述中，需要明确的是，本发明的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序；术语“垂直”、“横向”、“纵向”、“前”、“后”、“左”、“右”、“上”、“下”、“水平”等指示方位或位置关系为基于附图所示的方位或位置关系，仅仅是为了便于描述本发明，而不是意味着所指的装置或元件必须具有特有的方位或位置，因此不能理解为对本发明的限制。
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。
实施例1
本实施例提供了一种用于脑瘫儿童的多关节柔性下肢外骨骼，参见图1和图2，主要包括驱动系统1000、髋膝联动绳驱机构2000、踝部助力机构3000。所述驱动系统1000穿戴于患者的下背及腰处，驱动系统1000通过驱动路径分别与髋膝联动绳驱机构2000和踝部助力机构3000相连，髋膝联动绳驱机构2000穿戴于患者下肢大腿和小腿上，踝部助力机构3000穿戴于患者足部并与髋膝联动绳驱机构2000与踝关节处装配相连。所述驱动系统1000主要包括背包机架组件1100、髋膝驱动模块1200、踝部驱动模块1300、系统电控组件1400和背包辅助组件。
具体地，所述髋膝驱动模块1200和踝部驱动模块1300分别包括左右两个对称的驱动单元，分别提供对应外骨骼一侧腿的驱动路径，参见图3，以右侧为例，髋膝驱动模块1200和踝部驱动模块1300相背安装于背包机架1101上。背包机架组件1100包括背包机架1101、前背包护罩1102和后背包护罩1103。前背包护罩1102安装于背包机架1101前侧，后背包护罩1103安装于背包机架1101后侧。系统电控组件1400和背包辅助组件安装于背包机架组件1101上。
作为本发明的一个优选实施例，如图4、图5及图6所示，髋膝驱动模块1200主要包括髋膝驱动电机1201、髋膝驱动链轮组件1220、髋膝链绳组件1230和髋膝驱动张紧组件1240。
具体地，参见图4，所述髋膝驱动电机1201固装于背包机架1101的前板内侧，髋膝驱动链轮组件1220安装于髋膝驱动电机1201的输出法兰上，髋膝链绳组件1230和髋膝驱动链轮组件1220以链传动配合安装。
参见图5，所述髋膝驱动链轮组件1220主要包括髋膝驱动联轴器1221、单向离合器1222、髋膝驱动链轮1223和轴端挡片1224。其中髋膝驱动联轴器1221安装于髋膝驱动电机1201的输出法兰上，两个髋膝驱动链轮1223依次通过单向离合器1222套装于髋膝驱动联轴器1221的轴径上，两个单向离合器1222正反背向安装，轴端挡片1224通过螺钉安装于髋膝驱动联轴器1221的轴端，轴向固定髋膝驱动链轮组件1220的各件。
参见图4、图5，所述髋膝链绳组件1230主要包括髋膝正向驱动链条1231、链绳连接块1232、髋膝正向驱动绳1233、髋膝反向驱动链条1234、髋膝反向驱动绳1235。髋膝正向驱动链条1231和髋膝反向驱动链条1234分别与两个髋膝驱动链轮1223以链传动配合并一端通过销固定于髋膝驱动链轮1223的固定孔，髋膝正向驱动绳1233和髋膝反向驱动绳1235分别通过链绳连接块1232连接于髋膝正向驱动链条1231和髋膝反向驱动链条1234的另一端。
参见图4，所述髋膝驱动张紧组件1240主要包括链条压紧块Ⅰ1241、链条压紧块Ⅱ1242、张紧连接块1243、恒力弹簧1244、张紧组件销轴1245和滑动定位板1246，链条压紧块Ⅰ1241和链条压紧块Ⅱ1242成对安装于背包机架1101的前板，调整定位髋膝正向驱动链条1231和髋膝反向驱动链条1234，两个张紧连接块1243的固定孔端分别通过紧定螺钉固定于两个链绳连接块1232上，恒力弹簧1244的副板通过螺钉固定于张紧连接块1243的另一端，两个恒力弹簧1244依次转动安装于张紧组件销轴1245上，张紧组件销轴1245固装于背包机架1101的前板。
作为本发明的一个优选实施例，参见图6，踝部驱动模块1300主要包括踝部驱动电机1301、踝部驱动链轮组件1320、踝部链绳组件1330和踝部驱动张紧组件1340。其中踝部驱动电机1301固装于背包机架1101的后板内侧，踝部驱动链轮组件1320安装于踝部驱动电机1301的输出法兰上，踝部链绳组件1330和踝部驱动链轮组件1320以链传动配合安装。
具体地，如图6所示，所述踝部驱动链轮组件1320主要包括踝部驱动联轴器1321和踝部驱动链轮1322，踝部驱动链轮1322通过踝部驱动联轴器1321固连于踝部驱动电机1301的输出法兰上。其中踝部链绳组件1330主要包括踝部驱动链条1331、链绳连接块1232、踝部驱动绳Ⅰ1332和踝部驱动绳Ⅱ1333，踝部驱动链条1331与踝部驱动链轮1322以链传动配合，踝部驱动绳Ⅰ1332和踝部驱动绳Ⅱ1333分别通过链绳连接块1232连接于踝部驱动链条1331两端。其中踝部驱动张紧组件1340主要包括链条压紧块Ⅲ1341和链条压紧块Ⅳ1342，链条压紧块Ⅲ1341和链条压紧块Ⅳ1342成对安装于背包机架1101的后板，调整定位踝部驱动链条1331。
作为本发明的一个优选实施例，参见图3，系统电控组件1400主要包括主控制板1401、蓝牙模块1402、操控屏1403和电池组1404，主控制板1401、蓝牙模块1402和电池组1404均固定安装于背包机架1101内侧，操控屏1403固定安装于背包机架1101前板前侧。所述电池组1404用于提供电能。蓝牙模块1402用于接收大腿陀螺仪传感器2104和小腿陀螺仪传感器2205的信号，并传输给主控制板1401。主控制板1401用于接收处理各传感器信号，并根据预设程序控制髋膝驱动电机1201和踝部驱动电机1301，驱动外骨骼系统，对患者提供助力。操控屏1403用于显示患者当前下肢关节运动角度及助力估测值，并提供修正髋膝驱动电机1201和踝部驱动电机1301在不同助力阶段的助力力矩的操作条，以更新主控制板1401中程序的设定参数，帮助外骨骼系统更好地辅助助力。具体地，背包辅助组件主要包括散热模块1501、鲍登线夹1502和腰部支撑块1503。其中两个散热模块1501分别安装于前背包护罩1102前表面和后背包护罩1103上表面，用于进行散热。八个鲍登线夹1502分别安装于机架1101前板和机架1101后板，用于固定鲍登线的线鞘，腰部支撑块1503调整安装于后背包护罩1103上，根据患者体型确定具体安装于后背包护罩1103的位置。
作为本发明的一个优选实施例，如图2及图7所示，髋膝联动绳驱机构2000主要包括大腿穿戴组件2100、小腿穿戴组件2200、后侧驱动路径组件2300和前侧驱动路径组件2400。如图2所示，所述髋膝联动绳驱机构中的大腿穿戴组件2100和小腿穿戴组件2200分别穿戴于患者的大腿和小腿上，此外部分贴合患者皮肤的绑缚结构可根据患者体型定制。其中后侧驱动路径组件2300的驱动端与外骨骼的驱动系统1000的髋膝正向驱动绳1233相连，通过锚点A1、A2、A3、A4将鲍登线线鞘定位于患者的下肢，末端固定锁紧于小腿穿戴组件2200上的O1处，其中前侧驱动路径组件2400的驱动端与外骨骼的驱动系统1000的髋膝反向驱动绳1235相连，通过锚点B1将鲍登线线鞘定位于患者的下肢，末端固定锁紧于大腿穿戴组件2100上的O2处。
作为本发明的一个优选实施例，如图7、图8、图9及图10所示，大腿穿戴组件2100包括大腿结构件2101、可调压力块2102、大腿绑带2103和大腿陀螺仪传感器2104。其中大腿结构件2101和大腿绑带2103组合穿戴于患者大腿适当位置，并通过未示穿戴结构上下固定，可调压力块2102可调整装配于大腿结构件2101上的安装孔列上，大腿陀螺仪传感器2104安装于大腿结构件2101前侧卡槽内。
具体地，参见图8和图9，所述小腿穿戴组件2200包括小腿结构件2201、小腿滑轮组件2220、小腿绑带2203、小腿鲍登线锚点2204和小腿陀螺仪传感器2205。其中小腿结构件2201和小腿绑带2203组合穿戴于患者小腿适当位置，小腿滑轮组件2220安装于小腿结构件2201的上端悬臂上，小腿鲍登线锚点2204固定于小腿结构件2201外侧，小腿陀螺仪传感器2205安装于小腿结构件2201前侧卡槽内。
所述小腿滑轮组件2220如图9及图10所示，主要包括小腿滑轮2221、定位轴2222、摆动槽板2223、压线轮2224、摩擦块2225和定位螺柱2226。定位轴2222穿过小腿结构件2201悬臂端部的轴孔且可自由转动，两端分别以轴肩和弹性挡圈定位，小腿滑轮2221置于小腿结构件2201悬臂内侧，并与定位轴2222形成轴孔间隙配合且自由转动，摆动槽板2223的两侧槽孔套接安装于小腿滑轮2221两侧且可自由摆动，压线轮2224通过轴位螺钉和螺母安装于小腿滑轮2221下方的长孔，同时摩擦块2225和定位螺柱2226通过螺母定位安装于长孔下方支撑板的孔内。
作为本发明的一个优选实施例，参见图7和图8，所述后侧驱动路径组件2300主要包括正向驱动鲍登线2301、后侧拉力传感器2302、后侧分线器2303，后侧执行鲍登线2304。其中正向驱动鲍登线2301与外骨骼驱动系统1000的髋膝正向驱动绳1233相连，另一端固定于后侧拉力传感器2302一侧安装孔，后侧拉力传感器2302另一侧安装孔与后侧分线器2303中位轴固连，后侧执行鲍登线2304的钢丝绳穿过后侧分线器2303的弧形管且可自由滑动，后侧执行鲍登线2304的两端鲍登线于患者臀腿对称固定于锚点A1、A2、A3、A4，后侧执行鲍登线2304于大腿两侧伸出其线鞘的钢丝绳穿过位于大腿穿戴组件2100上的可调压力块2102的滑槽孔，并于末端穿过小腿穿戴组件2200中的定位轴2222两侧的径向孔内，通过紧定螺钉锁紧，即后侧驱动路径组件2300的拉动点O1处。
作为本发明的一个优选实施例，参见图7和图8，前侧驱动路径组件2400主要包括反向驱动鲍登线2401、前侧拉力传感器2402、编织绳2403、前侧分线器2404和前侧执行线2305。其中反向驱动鲍登线2401与外骨骼的驱动系统1000的髋膝反向驱动绳1235相连，另一端固定于前侧拉力传感器2402一侧安装孔，前侧拉力传感器2402另一端安装孔与编织绳2403系紧，编织绳2403的路径需依次通过小腿穿戴组件2200中的摆动槽板2223的限位槽，绕进小腿滑轮2221，绕出小腿滑轮2221并于前侧分线器2404相连，前侧执行线2305应穿过前侧分线器2404的弧形管并将两端系紧于大腿穿戴组件2100中大腿结构件2101两侧的拉动点O2处。
作为本发明的一个优选实施例，如图11所示，踝部助力机构3000主要包括足部结构件3001、踝部线盘3002、踝部编码器3003、踝部扭矩传感器3004、足部绑带3005和踝部鲍登线3006。
具体地，足部结构件3001配合足部绑带3005穿戴于患者足部，足部结构件3001两侧竖板上端的定位孔通过销轴与小腿穿戴组件2200中的小腿结构件2201的踝部轴孔转动相连，允许轴向有少量间隙，踝部线盘3002与足部结构件3001通过踝部编码器3003上的法兰孔以螺钉固定连接，特别地，如果不需测量踝部扭矩，可通过足部结构件3001竖板上的定位孔固连，踝部编码器3003壳体同轴固定于踝部线盘3002外侧，同时踝部编码器3003的转轴通过紧定螺钉与小腿结构件2201固定。足部鲍登线3006的线鞘固定于小腿鲍登线锚点2204，内线一端与踝部驱动模块1300中的踝部驱动绳Ⅰ1332和踝部驱动绳Ⅱ1333相连，一端固定于踝部线盘3002的驱动点。
作为本发明的一个优选实施例，大腿结构件2101和小腿结构件2201的材料优选PA12或碳纤维材料，鲍登线优选内线为1.2mm的钢丝绳，外鞘优选具有pvc内衬高碳钢内层的组合，小腿滑轮2221优选聚乙烯等具有一定硬度和润滑性的有机材料，压线轮2224和摩擦块2225优选橡胶材料。特别地，编织绳2403和前侧执行线2305优先柔性较好且具有一定摩擦系数的编织绳类型。
本实施例在使用时，应穿戴于患者下背及后腰处，各驱动路径与各传动结构分别相连，通过操作屏1403或已设定的程序进行控制。本发明主要对患者前行步态周期中进行三种辅助助力：于站立伸展步态阶段对髋膝关节进行伸展助力，于摆动伸展步态阶段对髋关节进行屈曲助力和膝关节进行伸展助力，根据患者步态特性对踝关节进行背屈或跖屈助力。
当在站立伸展步态阶段对患者髋膝关节进行助力时，主控制板1401通过接收处理大腿陀螺仪传感器2104、小腿陀螺仪传感器2205和踝部编码器3003的信号，判断当前患者运动状态为站立伸展步态阶段，并根据预设程序和操控屏1403的输入信号，控制髋膝驱动电机1201正转，与髋膝正向驱动链条1231配合的髋膝驱动链轮1223因其对应的单向离合器1222为啮合状态，拉动髋膝正向驱动绳1233，与髋膝反向驱动链条1234配合的髋膝驱动链轮1223因其对应的单向离合器1222为越程状态，髋膝反向驱动绳1235无额外驱动力，从而拉动后侧驱动路径组件2300的正向驱动鲍登线2301，带动后侧分线器2303和后侧执行鲍登线2304的内线产生位移，同时后侧拉力传感器2302实时测定后侧驱动路径组件2300内拉动力大小。此时后侧执行鲍登线2304的内线伸出外鞘的部分同时通过大腿穿戴组件2100上的可调压力块2102的滑槽孔并于线端部锁紧于小腿穿戴组件2200中的定位轴2222两侧的径向孔内，分别通过钢丝绳的内张力分力对大腿穿戴组件2100产生压力和对小腿穿戴组件2200产生拉力，进而分别产生对患者髋关节和膝关节的助力力矩。其中外骨骼对患者大腿的助力分配可通过改变大腿穿戴组件2100上的可调压力块2102的定位，进而改变后侧执行鲍登线2304通过可调压力块2102时的角度变动量，改变大腿助力大小。
当在摆动伸展步态阶段对患者髋膝关节进行助力时，主控制板1401通过接收处理大腿陀螺仪传感器2104、小腿陀螺仪传感器2205和踝部编码器3003的信号，判断挡圈患者运动状态为摆动伸展步态阶段，并根据预设程序和操控屏1403的输入信号，控制髋膝驱动电机1201反转，与髋膝反向驱动链条1234配合的髋膝驱动链轮1223因其对应的单向离合器1222为啮合状态，拉动髋膝反向驱动绳1235，与髋膝正向驱动链条1231配合的髋膝驱动链轮1223因其对应的单向离合器1222为越程状态，髋膝正向驱动绳1233无额外驱动力，拉动前侧驱动路径组件2400的反向驱动鲍登线2401，带动编织绳2403产生位移，同时前侧拉力传感器2402实时测定前侧驱动路径组件2400内拉动力大小。此时编织绳2403在张紧状态下同时绕行小腿穿戴组件2200中的小腿滑轮2221并通过前侧分线器2404拉动前侧执行线2305，分别对小腿滑轮2221产生压力和对大腿结构件2101产生拉力，进而分别产生对患者髋关节和膝关节的助力力矩。
其中外骨骼对患者大腿的助力分配可通过改变小腿穿戴组件2200上的摩擦块2225和定位螺柱2226顶紧编织绳2403于小腿滑轮2221上线槽内，以大幅减小外骨骼对患者髋关节的助力力矩。特别地需要注意在调整定位螺柱2226时，需保证绕出部分的编织绳和前侧执行线2305处于松弛状态，以免外骨骼影响患者膝关节的运动空间。
当根据患者步态特性对踝关节进行背屈或跖屈助力时，踝部驱动电机1301转动，通过踝部驱动链轮1322带动踝部链绳组件1330，使踝部驱动绳Ⅰ1332和踝部驱动绳Ⅱ1333所在驱动路径相对运动，带动踝部鲍登线3006驱动踝部线盘3002转动，从而使足部结构件3001对患者踝部产生助力力矩。在外骨骼系统处于启动状态下时，操控屏1403显示患者下肢髋膝踝关节的估测角度值和当前对患者髋膝踝关节的估算助力值，以及提供修正主控制板1401中预设程序部分参数的控制条。其中控制条应根据患者穿戴外骨骼后步行训练的反馈进行逐步调整。
综上，本领域技术人员容易理解的是，在不冲突的前提下，上述各有利技术特征可以自由地组合、叠加。
以上，仅是本发明的较佳实施例而已，并非对本发明作任何形式上的限制，依据本发明的技术实质对以上实施例所作的任何简单修改、等同变化与修饰，均仍属于本发明技术方案的范围内。

Claims (10)

  1. 一种用于脑瘫儿童的多关节柔性下肢外骨骼，其特征在于：
    包括驱动系统（1000）、髋膝联动绳驱机构（2000）、踝部助力机构（3000）；
    所述驱动系统（1000）包括背包机架组件（1100），以及设置在背包机架组件（1100）上的髋膝驱动模块（1200）、踝部驱动模块（1300）、系统电控组件（1400）和背包辅助组件；背包机架组件（1100）包括背包机架（1101）、前背包护罩（1102）和后背包护罩（1103）；
    系统电控组件（1400）、背包辅助组件安装于背包机架组件（1101）上；前背包护罩（1102）安装于背包机架（1101）前侧，后背包护罩（1103）安装于背包机架（1101）后侧；
    所述系统电控组件（1400）包括主控制板（1401）、蓝牙模块（1402）、操控屏（1403）和电池组（1404），主控制板（1401）、蓝牙模块（1402）和电池组（1404）均固定安装于背包机架（1101）内侧，操控屏（1403）固定安装于背包机架（1101）前板前侧；
    所述髋膝驱动模块（1200）和踝部驱动模块（1300）分别包括左右两个对称的驱动单元；
    所述髋膝驱动模块（1200）的驱动单元包括髋膝驱动电机（1201）和两个传动组件；
    所述髋膝联动绳驱机构（2000）包括左右对称的两个单元，每个单元包括大腿穿戴组件（2100）、小腿穿戴组件（2200）、后侧驱动路径组件（2300）和前侧驱动路径组件（2400）；
    所述髋膝驱动电机（1201）通过一个传动组件、后侧驱动路径组件（2300）对大腿穿戴组件（2100）产生压力和对小腿穿戴组件（2200）产生拉力，进而分别产生髋关节和膝关节的助力力矩；所述髋膝驱动电机（1201）依次通过另一个传动组件前侧驱动路径组件（2400）分别对小腿穿戴组件（2200）产生压力和对大腿穿戴组件（2100）产生拉力，进而分别产生髋关节和膝关节的助力力矩；
    踝部助力机构（3000）包括足部结构件（3001）、踝部线盘（3002）和踝部鲍登线（3006）；所述足部结构件（3001）通过销轴与小腿穿戴组件（2200）的踝部轴孔转动相连，所述足部鲍登线（3006）内线一端与踝部驱动模块（1300）的驱动单元相连，另一端固定于踝部线盘（3002）上；
    所述踝部驱动模块（1300）带动足部鲍登线（3006）驱动踝部线盘（3002）转动，从而使足部结构件（3001）产生助力力矩。
  2. 根据权利要求1所述的用于脑瘫儿童的多关节柔性下肢外骨骼，其特征在于：
    所述髋膝驱动模块（1200）的驱动单元的传动组件包括髋膝驱动链轮组件（1220）、髋膝链绳组件（1230）；
    所述髋膝驱动链轮组件（1220）包括髋膝驱动联轴器（1221）、单向离合器（1222）、髋膝驱动链轮（1223）和轴端挡片（1224）；其中髋膝驱动联轴器（1221）安装于髋膝驱动电机（1201）的输出法兰上，两个髋膝驱动链轮（1223）依次通过单向离合器（1222）套装于髋膝驱动联轴器（1221）的轴径上，两个单向离合器（1222）正反背向安装，轴端挡片（1224）通过螺钉安装于髋膝驱动联轴器（1221）的轴端，轴向固定髋膝驱动链轮组件（1220）的各件；
    其中髋膝链绳组件（1230）包括髋膝正向驱动链条（1231）、链绳连接块（1232）、髋膝正向驱动绳（1233）、髋膝反向驱动链条（1234）、髋膝反向驱动绳（1235）；髋膝正向驱动链条（1231）和髋膝反向驱动链条（1234）分别与两个髋膝驱动链轮（1223）以链传动配合，并且两个链条的一端通过销固定于髋膝驱动链轮（1223）的固定孔，髋膝正向驱动绳（1233）和髋膝反向驱动绳（1235）分别通过链绳连接块（1232）连接于髋膝正向驱动链条（1231）和髋膝反向驱动链条（1234）的另一端。
  3. 根据权利要求2所述的用于脑瘫儿童的多关节柔性下肢外骨骼，其特征在于：
    所述大腿穿戴组件（2100）包括大腿结构件（2101）、可调压力块（2102）、大腿绑带（2103）和大腿陀螺仪传感器（2104）；大腿结构件（2101）和大腿绑带（2103）连接，可调压力块（2102）可调整装配于大腿结构件（2101）上的安装孔列上，大腿陀螺仪传感器（2104）安装于大腿结构件（2101）前侧卡槽内。
  4. 根据权利要求3所述的用于脑瘫儿童的多关节柔性下肢外骨骼，其特征在于：
    所述小腿穿戴组件（2200）包括小腿结构件（2201）、小腿滑轮组件（2220）、小腿绑带（2203）、小腿鲍登线锚点（2204）和小腿陀螺仪传感器（2205）；其中小腿结构件（2201）和小腿绑带（2203）连接，小腿滑轮组件（2220）安装于小腿结构件（2201）的上端悬臂上，小腿鲍登线锚点（2204）固定于小腿结构件（2201）外侧，小腿陀螺仪传感器（2205）安装于小腿结构件（2201）前侧卡槽内；
    其中小腿滑轮组件（2220）包括小腿滑轮（2221）、定位轴（2222）、摆动槽板（2223）、压线轮（2224）、摩擦块（2225）和定位螺柱（2226）；定位轴（2222）穿过小腿结构件（2201）悬臂端部的轴孔且可自由转动，小腿滑轮（2221）置于小腿结构件（2201）悬臂内侧，并与定位轴（2222）形成轴孔间隙配合且自由转动，摆动槽板（2223）的两侧槽孔套接安装于小腿滑轮（2221）两侧且可自由摆动，压线轮（2224）通过轴位螺钉和螺母安装于小腿滑轮（2221）下方的长孔，同时摩擦块（2225）和定位螺柱（2226）通过螺母定位安装于长孔下方支撑板的孔内。
  5. 根据权利要求4所述的用于脑瘫儿童的多关节柔性下肢外骨骼，其特征在于：
    所述后侧驱动路径组件（2300）包括正向驱动鲍登线（2301）、后侧拉力传感器（2302）、后侧分线器（2303）、后侧执行鲍登线（2304）；其中正向驱动鲍登线（2301）与外骨骼驱动系统（1000）的髋膝正向驱动绳（1233）相连，另一端固定于后侧拉力传感器（2302）一侧安装孔，后侧拉力传感器（2302）另一侧安装孔与后侧分线器（2303）中位轴固连，后侧执行鲍登线（2304）的钢丝绳穿过后侧分线器（2303）的弧形管且可自由滑动，后侧执行鲍登线（2304）于大腿两侧伸出其线鞘的钢丝绳穿过位于大腿穿戴组件（2100）上的可调压力块（2102）的滑槽孔，并于末端穿过小腿穿戴组件（2200）中的定位轴（2222）两侧的径向孔内，通过紧定螺钉锁紧。
  6. 根据权利要求5所述的用于脑瘫儿童的多关节柔性下肢外骨骼，其特征在于：
    所述前侧驱动路径组件（2400）包括反向驱动鲍登线（2401）、前侧拉力传感器（2402）、编织绳（2403）、前侧分线器（2404）和前侧执行线（2305）；其中反向驱动鲍登线（2401）与外骨骼的驱动系统（1000）的髋膝反向驱动绳（1235）相连，另一端固定于前侧拉力传感器（2402）一侧安装孔，前侧拉力传感器（2402）另一端安装孔与编织绳（2403）系紧，编织绳（2403）的路径需依次通过小腿穿戴组件（2200）中的摆动槽板（2223）的限位槽，绕进小腿滑轮（2221），绕出小腿滑轮（2221）并于前侧分线器（2404）相连，前侧执行线（2305）应穿过前侧分线器（2404）的弧形管并将两端系紧于大腿穿戴组件（2100）中大腿结构件（2101）两侧。
  7. 根据权利要求6所述的用于脑瘫儿童的多关节柔性下肢外骨骼，其特征在于：
    所述踝部驱动模块（1300）的驱动单元包括踝部驱动电机（1301）、踝部驱动链轮组件（1320）、踝部链绳组件（1330）和踝部驱动张紧组件（1340）；其中踝部驱动链轮组件（1320）安装于踝部驱动电机（1301）的输出法兰上，踝部链绳组件（1330）和踝部驱动链轮组件（1320）以链传动配合安装；
    其中踝部驱动链轮组件（1320）包括踝部驱动联轴器（1321）和踝部驱动链轮（1322），踝部驱动链轮（1322）通过踝部驱动联轴器（1321）固连于踝部驱动电机（1301）的输出法兰上；
    其中踝部链绳组件（1330）包括踝部驱动链条（1331）、链绳连接块（1232）、踝部驱动绳Ⅰ（1332）和踝部驱动绳Ⅱ（1333），踝部驱动链条（1331）与踝部驱动链轮（1322）以链传动配合，踝部驱动绳Ⅰ（1332）和踝部驱动绳Ⅱ（1333）分别通过链绳连接块（1232）连接于踝部驱动链条（1331）两端。
  8. 根据权利要求7所述的用于脑瘫儿童的多关节柔性下肢外骨骼，其特征在于：
    所述踝部助力机构（3000）还包括踝部编码器（3003）、足部绑带（3005）；
    所述足部结构件（3001）两侧竖板上端的定位孔通过销轴与小腿穿戴组件（2200）中的小腿结构件（2201）的踝部轴孔转动相连，踝部线盘（3002）固定于足部结构件（3001）上，踝部编码器（3003）壳体同轴固定于踝部线盘（3002）外侧，同时踝部编码器（3003）的转轴通过紧定螺钉与小腿结构件（2201）固定；足部鲍登线（3006）的线鞘固定于小腿鲍登线锚点（2204），内线一端与踝部驱动模块（1300）中的踝部驱动绳Ⅰ（1332）和踝部驱动绳Ⅱ（1333）相连，另一端固定于踝部线盘（3002）上。
  9. 根据权利要求1所述的用于脑瘫儿童的多关节柔性下肢外骨骼，其特征在于：
    所述背包辅助组件包括散热模块（1501）、鲍登线夹（1502）和腰部支撑块（1503）；其中两个散热模块（1501）分别安装于前背包护罩（1102）前表面和后背包护罩（1103）上表面，鲍登线夹（1502）分别安装于机架（1101）前板和机架（1101）后板，用于固定鲍登线的线鞘，腰部支撑块（1503）调整安装于后背包护罩（1103）上。
  10. 根据权利要求8所述的用于脑瘫儿童的多关节柔性下肢外骨骼，其特征在于：
    所述髋膝驱动模块（1200）包括髋膝驱动张紧组件（1240），
    所述髋膝驱动张紧组件（1240）包括链条压紧块Ⅰ（1241）、链条压紧块Ⅱ（1242）、张紧连接块（1243）、恒力弹簧（1244）、张紧组件销轴（1245）和滑动定位板（1246），链条压紧块Ⅰ（1241）和链条压紧块Ⅱ（1242）成对安装于背包机架（1101）的前板，调整定位髋膝正向驱动链条（1231）和髋膝反向驱动链条（1234），两个张紧连接块（1243）的固定孔端分别通过紧定螺钉固定于两个链绳连接块（1232）上，恒力弹簧（1244）的副板通过螺钉固定于张紧连接块（1243）的另一端，两个恒力弹簧（1244）依次转动安装于张紧组件销轴（1245）上，张紧组件销轴（1245）固装于背包机架（1101）的前板。
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