WO2025255876A1 - 用于康复助力的下肢动力外骨骼装置 - Google Patents

用于康复助力的下肢动力外骨骼装置

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Publication number
WO2025255876A1
WO2025255876A1 PCT/CN2024/103162 CN2024103162W WO2025255876A1 WO 2025255876 A1 WO2025255876 A1 WO 2025255876A1 CN 2024103162 W CN2024103162 W CN 2024103162W WO 2025255876 A1 WO2025255876 A1 WO 2025255876A1
Authority
WO
WIPO (PCT)
Prior art keywords
joint
lower limb
sagittal plane
drive unit
exoskeleton device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/CN2024/103162
Other languages
English (en)
French (fr)
Inventor
高飞
林永基
李圣
史秋雨
廖海粟
吴新宇
黄锐森
聂旷
尚文泽
刘发江
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Institute of Advanced Technology of CAS
Original Assignee
Shenzhen Institute of Advanced Technology of CAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenzhen Institute of Advanced Technology of CAS filed Critical Shenzhen Institute of Advanced Technology of CAS
Publication of WO2025255876A1 publication Critical patent/WO2025255876A1/zh
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H2003/005—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
    • A61H2201/16—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
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5061—Force sensors

Definitions

  • This invention belongs to the technical field of lower limb exoskeleton devices, and relates to a lower limb powered exoskeleton device for rehabilitation assistance.
  • the present invention provides a lower limb powered exoskeleton device for rehabilitation assistance.
  • a biomimetic design is employed to propose an intelligent joint actuator, thereby significantly reducing the power consumption of the joint actuator, simplifying the controller's weight and control complexity, and improving the device's engineering practicality.
  • the present invention modifies the active turning capability of the lower limb exoskeleton.
  • the exoskeleton achieves turning motion by cleverly introducing degrees of freedom and corresponding actuators on the horizontal plane.
  • embodiments of the present invention provide a lower limb powered exoskeleton device for rehabilitation assistance, characterized in that it includes:
  • An ankle joint sagittal plane driving unit which is one of an active driving unit, a semi-passive driving unit, and a passive driving unit, to realize joint driving of the ankle joint in the sagittal plane;
  • a sagittal plane drive unit for the knee joint which is one of an active drive unit and a semi-passive drive unit, to realize joint drive of the knee joint in the sagittal plane.
  • the hip joint sagittal plane drive unit is an active drive unit that enables joint drive of the hip joint in the sagittal plane.
  • a horizontal plane drive unit for the hip joint which includes both active and passive drive units, enables joint drive of the hip joint in the horizontal plane.
  • the joint actuator connecting frame includes a waist connecting frame, a thigh connecting frame and a lower leg connecting frame, which connects and fixes the ankle joint sagittal plane driving unit, the knee joint sagittal plane driving unit, the hip joint sagittal plane driving unit and the hip joint horizontal plane driving unit.
  • the lower limb fixation bracket includes a waist fixation bracket, a thigh fixation bracket, a calf fixation bracket, and a foot fixation bracket.
  • the lower limb fixation bracket is used to fix the waist, thigh, calf, and foot of the wearer of the exoskeleton device to the exoskeleton device.
  • Sensors which are mounted on the exoskeleton device and the exoskeleton device wearer, are used to detect the movement state of the exoskeleton and decode the movement intention of the exoskeleton wearer;
  • the controller is used to control the movement angle, angular velocity and output torque of the ankle joint sagittal plane drive unit, knee joint sagittal plane drive unit, hip joint sagittal plane drive unit and hip joint horizontal plane drive unit;
  • a power supply is provided to power the drive unit, sensors, and controller of the exoskeleton device.
  • the lumbar fixation bracket is fixed to the lumbar connecting frame
  • the thigh fixation bracket is fixed to the thigh connecting frame
  • the calf fixation bracket is fixed to the calf connecting frame
  • the foot fixation bracket is connected to the calf connecting frame through the ankle joint sagittal plane driving unit.
  • the waist connecting frame and the thigh connecting frame are connected by either a planar hinge or a spherical connection, and the thigh connecting frame and the calf connecting frame are connected by a planar hinge.
  • each linear actuator includes a DC motor, which is coupled with a screw drive and has both displacement and force feedback.
  • the linear actuator together with the lumbar connecting frame and the thigh connecting frame, forms a crank-slider structure, which can actively control the rotation angle, angular velocity and joint torque of the hip joint in the sagittal plane.
  • the hip joint horizontal plane driving unit is an active driving unit, which is driven by two antagonistically arranged linear actuators.
  • the linear actuators include DC motors, which are coupled with threaded screw drives and have both displacement and force feedback.
  • the linear actuators, the waist connecting frame and the thigh connecting frame form a crank-slider structure, which can actively control the rotation angle, angular velocity and joint torque of the hip joint in the horizontal plane to achieve turning motion.
  • the threaded screw drive has a motor power-off self-locking function.
  • the hip joint horizontal plane driving unit is a passive driving unit, which is driven by a return spring, enabling the waist connecting frame and the thigh connecting frame to return to their initial relative positions. Under the active drive of the exoskeleton device wearer, the exoskeleton device can achieve rotation in the horizontal plane.
  • the return spring in the passive drive unit is one of a linear spring, a torsion spring, and a pneumatic spring.
  • the knee joint sagittal plane driving unit is an active driving unit, which is driven by two antagonistically arranged linear actuators.
  • the linear actuators include DC motors, which are driven by threaded screws and have both displacement and force feedback.
  • the linear actuators, thigh connecting frame and lower leg connecting frame form a crank-slider structure, which can actively control the rotation angle, angular velocity and joint torque of the knee joint in the sagittal plane.
  • the knee joint sagittal plane drive unit is an active drive unit, which is driven by an antagonistically arranged linear drive unit and a magnetically controlled damper.
  • the linear drive unit includes a DC...
  • the motor a DC motor with screw drive, provides both displacement and force feedback. It forms a crank-slider structure with the thigh and lower leg connecting frames, allowing active control of the knee joint's rotation angle, angular velocity, and joint torque in the sagittal plane.
  • the magnetically controlled damper also forming a crank-slider structure with the thigh and lower leg connecting frames, passively controls the knee joint's rotation angle, angular velocity, and joint torque in the sagittal plane by controlling the excitation current of the magnetically controlled damper.
  • the knee joint sagittal plane drive unit is a semi-passive drive unit, driven by a magnetically controlled damper in conjunction with a return spring.
  • the return spring can drive the knee joint to extend and return to its initial position in the sagittal plane.
  • the magnetically controlled damper, the thigh connecting frame, and the lower leg connecting frame form a crank-slider structure.
  • the ankle joint sagittal plane driving unit is an active driving unit, which consists of a DC motor and one of a gear reducer and a harmonic reducer, and can actively control the ankle joint's rotation angle, angular velocity, and output torque in the sagittal plane.
  • the ankle joint sagittal plane drive unit is a semi-passive unit.
  • This semi-passive brake is driven by a magnetically controlled damper in conjunction with a return spring.
  • the return spring drives the knee joint to extend and return to its initial position in the sagittal plane.
  • the magnetically controlled damper together with the lower leg connecting frame and the foot fixing bracket, forms a crank-slider structure.
  • the lower leg connecting frame and the foot fixing bracket are connected by a planar hinge.
  • the ankle joint sagittal plane driving unit is a passive driving unit, which includes a return spring.
  • the return spring helps the relative angle between the lower leg connecting frame and the foot fixation bracket return to the initial position.
  • the lower leg connecting frame and the foot fixation bracket are connected by a planar hinge.
  • the return spring in the passive drive unit is one of a linear spring, a torsion spring, and a pneumatic spring.
  • the lower limb fixation bracket is used to fix the lower limb exoskeleton device to the wearer.
  • the lower limb fixation bracket is made of negative Poisson's ratio smart structural units in some load-bearing areas.
  • the inner surface of the lower limb fixation bracket is integrated with a curved pressure measurement unit.
  • This pressure measurement unit measures the contact stress between the lower limb exoskeleton device and the wearer of the lower limb exoskeleton device. The measured contact stress can be used to quantify the wearing comfort of the lower limb fixation bracket, and at the same time, it can be used to decode the movement intention of the lower limb exoskeleton wearer.
  • the sensors include lower limb electromyography (EMG) sensors, joint angle sensors, pressure sensors distributed on the lower limb fixation bracket, pressure measurement units distributed on the lower limb fixation bracket, and inertial measurement units (IMUs) installed on the soles, calves, thighs, and waists of the lower limbs.
  • EMG lower limb electromyography
  • IMUs inertial measurement units
  • the lower limb electromyography (EMG) sensor is used to detect the electromyographic signals of the muscles of the lower limb exoskeleton wearer, thereby decoding the wearer's movement intentions, quantifying the rehabilitation effect of the wearer, and detecting information such as muscle fatigue in the lower limbs.
  • EMG electromyography
  • the pressure measurement units distributed on the lower limb fixation frame are used to detect the interaction forces and torques between the exoskeleton and the wearer's limbs, including the interaction forces and torques between the fixation frame and the user's thighs and calves, as well as the interaction forces and torques between the user's plantar surface and the foot support plate of the lower limb exoskeleton; the inertial measurement unit is used to provide feedback on the motion information of the lower limb exoskeleton device, including motion direction, motion speed, motion acceleration, angle, and angular velocity.
  • the controller identifies the user's movement intention based on signals obtained from angle sensors, pressure sensors, and electromyography signal detection sensors, and further controls the output torque of each DC motor and damper of the lower limb exoskeleton device, thereby controlling the movement trajectory and posture of the hip joint, knee joint, ankle joint, thigh, and calf structures of the lower limb exoskeleton device.
  • the pressure sensor is installed inside the fixed bracket and the foot support plate to measure the interaction force between the user and the fixed bracket and the interaction force between the user and the ground.
  • the controller is used to control the hip, knee, and ankle joints of the lower limb exoskeleton device to rotate according to set directions, angles, angular velocities, and angular accelerations, and to control the thigh and calf structures.
  • the structure swings according to the set posture, while controlling the interaction force and torque between the fixed support and the wearer of the lower limb exoskeleton device.
  • the lower limb powered exoskeleton device for rehabilitation assistance of the present invention has at least the following beneficial effects:
  • the lower limb powered exoskeleton device is used to help patients with impaired lower limb motor function, such as lower limb stroke patients, to achieve walking rehabilitation training, enabling the various joints of the lower limb to achieve corresponding motor functions, providing assistance to patients, and making it easier for patients to complete actions such as standing, walking, turning, and sitting.
  • This lower limb powered exoskeleton device proposes an intelligent joint actuator based on the movement characteristics of each joint of the lower limb using a biomimetic design, which greatly reduces the power consumption of the joint actuator, simplifies the quality and control difficulty of the controller, and improves the engineering practicality of the device; at the same time, the present invention has made improvements in the active turning of the lower limb exoskeleton, realizing the turning movement of the exoskeleton by cleverly introducing degrees of freedom and corresponding actuators in the horizontal plane.
  • the lower limb powered exoskeleton uses an antagonistic linear drive unit in the sagittal plane of the hip joint to achieve flexion and extension movements.
  • a linear drive unit with a power-off self-locking function enables turning movements.
  • the knee joint uses a linear drive unit in conjunction with a magnetorheological brake in the sagittal plane.
  • This drive method significantly reduces the power consumption of the knee joint actuator and simplifies control.
  • the lower limb fixation frame was improved, incorporating intelligent structural units and surface stress detection.
  • This powered exoskeleton is primarily used to assist patients with impaired lower limb motor function, such as lower limb stroke patients, in achieving walking rehabilitation training.
  • Figure 1 is a schematic diagram of the overall front structure of the present invention
  • Figure 2 is a schematic diagram of the overall structure of the back side of the present invention.
  • Figure 3 is a schematic diagram of the overall side structure of the present invention.
  • Figure 4 is a schematic diagram of the active drive unit structure of the hip joint horizontal plane in this invention.
  • Figure 5 is a schematic diagram of the passive drive unit structure of the hip joint horizontal plane in this invention.
  • Figure 6 is a schematic diagram of the structure and motion of the active drive unit in the sagittal plane of the hip joint in this invention.
  • Figure 7 is a schematic diagram of the active drive unit structure of the sagittal plane of the knee joint in this invention.
  • Figure 8 is a schematic diagram of the passive drive unit structure of the sagittal plane of the knee joint in this invention.
  • Figure 9 is a schematic diagram of the active drive unit structure of the ankle joint sagittal plane of the present invention.
  • Figure 10 is a schematic diagram of the semi-passive drive unit structure of the ankle joint in the sagittal plane of the present invention.
  • Figure 11 is a schematic diagram of the passive drive unit structure of the ankle joint in the sagittal plane of the present invention.
  • Figure 12 is a schematic diagram of the thigh and lower limb fixation bracket in this invention.
  • Figure 13 is a schematic diagram of the linear actuator structure in this invention.
  • Figure 14 is a schematic diagram of the magnetically controlled damping actuator structure in this invention.
  • Figure 15 is a schematic diagram of the return spring actuator structure in this invention.
  • Figure 16 is a schematic diagram of a complete gait cycle movement of a lower limb powered exoskeleton device used for rehabilitation assistance;
  • Figure 17 is a schematic diagram of the changes in the sagittal plane angles of the hip, knee, and ankle joints during the complete gait cycle of the human body (walking on a ground force plate);
  • Figure 18 is a schematic diagram of the changes in joint torques of the hip, knee and ankle joints during the complete gait cycle of the human body (walking on a ground force plate);
  • Figure 19 is a schematic diagram of the changes in joint power of the hip, knee and ankle joints during the complete gait cycle of the human body (walking on a ground force plate);
  • Figure 20 is a schematic diagram of the change of ground force plate reaction force during the human gait cycle (a normal person walking on the ground force plate);
  • the components include: 1. Control backpack; 2. Waist support bracket; 3. Thigh support bracket; 4. Third DC motor; 5. Seventh DC motor; 6. Lower leg support bracket; 7. Ninth DC motor; 8. Fifth DC motor; 9. Eighth DC motor; 10. Tenth DC motor; 11. First DC motor; 12. Fourth DC motor; 13. First magnetically controlled damper; 14. Second DC motor; 15. Sixth DC motor; 16. Second magnetically controlled damper; 17. Limit switch; 18. Threaded screw; 19. Force sensor; 20. Magnetorheological fluid valve; 21. Magnetorheological fluid guide tube; 22. Hydraulic cylinder; 23. Return spring; 24. Flexible pressure sensor; 25. Negative Poisson's ratio intelligent structural unit.
  • This invention proposes a lower limb powered exoskeleton device for rehabilitation assistance.
  • the hardware components of the lower limb exoskeleton device include: a horizontal plane driving unit for the hip joint, a sagittal plane driving unit for the hip joint, a sagittal plane driving unit for the knee joint, a sagittal plane driving unit for the ankle joint, a joint actuator connecting frame, a lower limb fixation bracket, a sensor, a controller, and a power supply.
  • the ankle joint sagittal plane driving unit is used to realize the joint driving of the ankle joint in the sagittal plane; the knee joint sagittal plane driving unit realizes the joint driving of the knee joint in the sagittal plane; the hip joint sagittal plane driving unit realizes the joint driving of the hip joint in the sagittal plane; and the hip joint horizontal plane driving unit realizes the joint driving of the hip joint in the horizontal plane.
  • the joint actuator connecting frame includes a lumbar connecting frame, a thigh connecting frame, and a lower leg connecting frame. This joint actuator connecting frame connects the ankle joint sagittal plane actuator unit and the knee joint sagittal plane actuator unit.
  • the drive unit, the hip joint sagittal plane drive unit, and the hip joint horizontal plane drive unit are connected and fixed.
  • the lower limb fixation bracket includes a lumbar fixation bracket, a thigh fixation bracket, a calf fixation bracket, and a foot fixation bracket.
  • the lower limb fixation bracket is used to fix the waist, thighs, calves, and feet of the exoskeleton wearer to the exoskeleton device.
  • Sensors are installed on the exoskeleton device and the wearer to detect the exoskeleton's movement state and decode the wearer's movement intentions.
  • a controller controls the movement angles, angular velocities, and output torques of the ankle joint sagittal plane drive unit, knee joint sagittal plane drive unit, hip joint sagittal plane drive unit, and hip joint horizontal plane drive unit.
  • a power supply provides power to the exoskeleton device's drive units, sensors, and controller.
  • control backpack 1 is installed to the fixed position of the back support plate via a connector.
  • the control backpack contains a signal processing module, a controller, a drive module, and a power supply.
  • the back support plate is fixed to the waist support bracket 2.
  • the hip joint horizontal plane driving unit can be either an active driving unit or a passive driving unit.
  • the hip joint horizontal plane active driving unit is composed of two antagonistically arranged linear actuators.
  • the two linear actuators are respectively composed of a first DC motor 11 and a threaded screw 18 for transmission and a second DC motor 14 and a threaded screw 18 for transmission.
  • the linear actuators are respectively connected to the waist fixation bracket 2 and the waist connection frame through joint bearings to form a crank-slider structure.
  • the rotational torque or holding torque dynamically output by the first DC motor 11 and the second DC motor 14 is transmitted through the threaded screw 18 to drive the internal rotation and external abduction movements of the hip joint horizontal plane of the lower limb exoskeleton device, or to maintain the wearer's hip joint horizontal plane in a standing locked state, and to actively control the rotation angle, angular velocity and joint torque of the above-mentioned hip joint horizontal plane.
  • the first DC motor 11 rotates forward to provide rotational torque, which drives the hip joint on one side of the lower limb exoskeleton device to externally rotate in the horizontal plane through the threaded screw 18 with forward linear displacement.
  • the second DC motor 14 rotates in reverse to provide reverse rotational torque, which drives the lower limb to externally rotate in the horizontal plane through the threaded screw 18 with reverse linear displacement.
  • the hip joint on the other side of the exoskeleton device rotates internally in the horizontal plane, thereby controlling the hip joint of the exoskeleton to rotate to a predetermined position in the horizontal plane.
  • the waist fixation bracket of the lower limb exoskeleton device transmits motion assistance to the user to help the user complete the turning action.
  • the hip joint horizontal plane driving unit when the hip joint horizontal plane driving unit is a passive driving unit, it is driven by a return spring.
  • the return spring is connected to the lumbar fixation bracket 2 and the lumbar connecting frame via joint bearings, allowing the lumbar connecting frame and the thigh connecting frame to return to their initial relative positions. Under the active drive of the wearer, the exoskeleton device can rotate in the horizontal plane.
  • the return spring in the passive driving unit can be any one of a linear spring, a torsion spring, or a pneumatic spring.
  • the hip joint sagittal plane driving unit is an active driving unit.
  • the active drive unit for the sagittal plane of the hip joint is located on both sides of the device.
  • Each active drive unit for the sagittal plane of the hip joint consists of two antagonistically arranged linear actuators.
  • One side of the drive unit is driven by a third DC motor 4 and a fourth DC motor 12 in conjunction with a threaded screw 18, while the other side is driven by a fifth DC motor 8 and a sixth DC motor 15 in conjunction with a threaded screw 18.
  • the linear actuators connect the waist connecting frame and the thigh connecting frame to form a crank-slider structure.
  • the third DC motor 4, the fourth DC motor 12, the fifth DC motor 8, and the sixth DC motor 15 dynamically output rotational torque or holding torque through the threaded screw 18 to drive the smooth rotation of the hip joint of the lower limb exoskeleton device in the sagittal plane, or to maintain the standing lock of the hip joint in the sagittal plane, and actively control the rotation angle, angular velocity, and joint torque of the sagittal plane of the hip joint.
  • the third DC motor 4 rotates forward to provide rotational torque
  • the fourth DC motor 12 rotates in reverse to provide reverse rotational torque
  • driving one hip joint of the lower limb exoskeleton device to swing forward to a predetermined position in the sagittal plane
  • the fifth DC motor 8 rotates forward to provide rotational torque
  • the sixth DC motor 15 rotates in reverse to provide reverse rotational torque, driving the other hip joint of the lower limb exoskeleton device to swing backward to a predetermined position in the sagittal plane, with both hip joints alternately entering the swing phase and the support phase in the sagittal plane.
  • the waist fixing bracket and the waist connecting frame are connected by a planar hinge.
  • the knee joint sagittal plane driving unit is either an active driving unit or a semi-passive driving unit.
  • the active driving unit of the knee joint sagittal plane consists of antagonistically arranged linear driving units and magnetically controlled dampers.
  • One side of the knee joint sagittal plane driving unit is driven by a seventh DC motor in conjunction with a threaded screw 18 and a first magnetically controlled damper 13.
  • the other side of the knee joint sagittal plane driving unit is driven by an eighth DC motor in conjunction with a threaded screw 18 and a second magnetically controlled damper 16.
  • the linear actuator connects the thigh connecting frame and the lower leg connecting frame through a joint bearing to form a crank-slider structure.
  • the DC motor dynamically outputs holding torque or output torque through the threaded screw 18 to maintain the knee joint of the lower limb exoskeleton device in a standing lock or smooth swing in the sagittal plane, and actively controls the rotation angle, angular velocity, and joint torque of the aforementioned knee joint sagittal plane.
  • the seventh DC motor rotates forward to provide rotational torque, driving one knee joint of the lower limb exoskeleton device to swing to a predetermined position in the sagittal plane
  • the eighth DC motor rotates in reverse to provide reverse rotational torque, driving the other knee joint of the lower limb exoskeleton device to swing to a predetermined position in the sagittal plane, so that the two lower leg structures alternate between swinging phase and support phase.
  • the first magnetically controlled damper 13 and the second magnetically controlled damper 16 together with the slide rod transmission constitute a magnetically controlled damper drive unit.
  • the magnetically controlled damper drive unit is connected to the thigh connection frame and the calf connection frame of the lower limb exoskeleton device through a joint bearing to form a crank-slider structure.
  • the first magnetically controlled damper 13 drive unit and the seventh linear actuator are arranged antagonistically on one side, and the second magnetically controlled damper 16 drive unit and the eighth linear actuator are arranged antagonistically on the other side.
  • the magnetically controlled damper outputs static damping force or dynamic damping force to maintain the knee joint of the lower limb exoskeleton in the sagittal plane with force locking or smooth swing.
  • the knee joint sagittal plane driving unit is a semi-passive driving unit, It is driven by a magnetically controlled damper in conjunction with a return spring.
  • the return spring can drive the knee joint to extend and return to its initial position in the sagittal plane.
  • the magnetically controlled damper, the thigh connecting frame and the lower leg connecting frame form a crank-slider structure.
  • the ankle joint sagittal plane driving unit can be an active driving unit, which consists of a DC motor and a gear reducer or a harmonic reducer, and can actively control the ankle joint's rotation angle, angular velocity, and output torque in the sagittal plane.
  • the active drive unit is composed of a ninth DC motor 7 or a tenth DC motor 10 in conjunction with a gear reducer.
  • the above-mentioned ankle joint sagittal plane active drive unit is fixed to the end of the lower leg support plate of the lower limb exoskeleton device. It dynamically outputs holding torque and rotational torque to maintain the standing lock of the ankle joint of the lower limb exoskeleton device or to drive the ankle joint of the lower limb exoskeleton device to rotate in the sagittal plane, and actively controls the rotation angle, angular velocity and joint torque of the ankle joint in the sagittal plane.
  • the ankle joint sagittal plane driving unit can also be a semi-passive unit, which is driven by a magnetically controlled damper in conjunction with a return spring 23.
  • the magnetically controlled damper includes a magnetorheological fluid valve 20, a magnetorheological fluid guide tube 21, and a hydraulic cylinder 22.
  • the return spring 23 drives the knee joint to extend and return to its initial position in the sagittal plane.
  • the magnetically controlled damper together with the lower leg connecting frame and the foot fixing bracket, forms a crank-slider structure, wherein the lower leg connecting frame and the foot fixing bracket are connected by a planar hinge.
  • the ankle joint sagittal plane driving unit can also be a passive driving unit.
  • This passive driving unit includes two symmetrical return springs, which help return the relative angle between the lower leg connecting frame and the foot fixation bracket to its initial position.
  • the lower leg connecting frame and the foot fixation bracket are connected by a planar hinge.
  • the return springs in the passive driving unit can be any one of a linear spring, a torsion spring, and a pneumatic spring.
  • the inner surface of the lower limb fixation bracket is integrated with a curved pressure measurement unit.
  • the pressure measurement unit measures the contact stress between the lower limb exoskeleton device and the wearer of the lower limb exoskeleton device. The measured contact stress can be used to quantify the wearing comfort of the lower limb fixation bracket and to decode the movement intention of the lower limb exoskeleton wearer.
  • the sensors include lower limb electromyography (EMG) sensors, joint angle sensors, pressure sensors distributed on the lower limb fixation bracket, pressure measurement units distributed on the lower limb fixation bracket, and inertial measurement units (IMUs) installed on the soles of the feet, calves, thighs, and waists of the lower limbs.
  • EMG lower limb electromyography
  • IMUs inertial measurement units
  • the lower limb electromyography (EMG) sensor is used to detect the electromyographic signals of the muscles of the lower limb exoskeleton wearer, thereby decoding the wearer's movement intentions and quantifying the rehabilitation effect of the wearer, while also detecting information such as muscle fatigue in the lower limbs.
  • EMG electromyography
  • the pressure measurement units distributed on the lower limb fixation frame are used to detect the interaction forces and torques between the exoskeleton and the wearer's limbs, including the interaction forces and torques between the fixation frame and the user's thighs and calves, as well as the interaction forces and torques between the user's plantar surface and the foot support plate of the lower limb exoskeleton; the inertial measurement unit is used to provide feedback on the motion information of the lower limb exoskeleton device, including motion direction, motion speed, motion acceleration, angle, and angular velocity.
  • the controller identifies the user's movement intention based on signals obtained from angle sensors, pressure sensors, and electromyography (EMG) signal detection sensors. It then controls the output torque of each DC motor and damper in the lower limb exoskeleton device, and controls the hip, knee, and ankle joints of the lower limb exoskeleton device to rotate according to the set direction, angle, angular velocity, and angular acceleration. This controls the movement trajectory and posture of the hip, knee, ankle, thigh, and calf structures of the lower limb exoskeleton device.
  • EMG electromyography
  • the pressure sensor is installed inside the fixed bracket and the foot support plate to measure the interaction force between the user and the fixed bracket and the interaction force between the user and the ground.
  • a plantar pressure sensor is fixed to the upper surface of the foot fixation bracket to provide feedback on the interaction force between the wearer's foot and the foot fixation bracket of the lower limb exoskeleton device.
  • potentiometers are installed at the sagittal plane junctions of the hip, knee, and ankle joints to provide feedback on the hip, knee, and ankle joints of the lower limb exoskeleton.
  • the angle of rotation in the sagittal plane of the joint is a measure of the angle of rotation in the sagittal plane of the joint.
  • EMG electromyography
  • thigh fixation bracket 3 and the calf fixation bracket 6 are installed on the inner surfaces of the thigh fixation bracket 3 and the calf fixation bracket 6. Through signal processing and calculation, they provide real-time feedback to the control backpack of the electrical signals generated by the main muscles of the lower limbs, and obtain information on the wearer's muscle strength and fatigue level through decoding.
  • flexible pressure sensors 24 are fixed on the inner surfaces of the waist fixation bracket, thigh fixation bracket 3, and calf fixation bracket 6.
  • a force sensor 19 is fixed at the connection between the threaded rod 18 and the joint bearing to measure the axial force of the threaded rod 18 in the linear actuator.
  • negative Poisson's ratio smart structural units 25 are applied to the force-sensitive areas of the lumbar fixation bracket, thigh fixation bracket 3, calf fixation bracket 6, and foot fixation bracket to improve wearer comfort while ensuring secure fixation and reducing contact stress concentration.
  • An inertial measurement unit is installed in the control backpack to measure and provide feedback on the motion direction, velocity, acceleration, angle, and angular velocity of the lower limb exoskeleton.
  • the lower limb powered exoskeleton device for rehabilitation assistance proposed in this invention improves the lower limb fixation frame of the exoskeleton by introducing intelligent structural units and curved surface stress detection, thereby enhancing the human-computer interaction performance between the exoskeleton device and the wearer. It is used to assist patients with impaired lower limb motor function, such as lower limb stroke patients, in achieving walking rehabilitation training.
  • Figure 16 shows a complete gait cycle of the lower limb powered exoskeleton device for rehabilitation assistance proposed in this invention.
  • Figures 17-19 illustrate the changes in sagittal plane angles, joint torques, and joint power of the hip, knee, and ankle joints during the complete gait cycle when the device walks on a ground force plate.
  • Figure 20 shows the changes in the reaction force of the ground force plate during the human gait cycle (a normal person walking on a ground force plate).

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Abstract

本发明公开了一种用于康复助力的下肢动力外骨骼装置，包括踝关节矢状面驱动单元、膝关节矢状面驱动单元、髋关节矢状面驱动单元、髋关节水平面驱动单元、关节驱动器连接框架、下肢固定支架、传感器、控制器和电源；髋关节的矢状面采用了拮抗驱动的直线驱动单元，实现髋关节的弯曲与伸展运动，髋关节的水平面采用具有断电自锁功能的直线驱动单元实现外骨骼的转弯运动，膝关节的矢状面采用了直线驱动单元配合磁流变制动器，明显降低了膝关节驱动器的功耗同时简化控制难度。该动力外骨骼装置可以帮助下肢运动功能受损患者实现行走康复训练。

Description

用于康复助力的下肢动力外骨骼装置 技术领域
本发明属于下肢外骨骼装置技术领域，涉及一种用于康复助力的下肢动力外骨骼装置。
背景技术
由于脑卒中、脑损伤、脊髓损伤以及生理或病理性老化，导致神经系统疾病患者或老年人存在不同程度的运动功能障碍，生活质量明显下降，因此，存在运动功能障碍的人群在运动康复方面存在大量需求。
为了满足上述人群的需求，研究人员和康复医疗公司研发了多款下肢康复外骨骼装置，用于帮助运动功能受损的人群进行康复训练，如中风患者和老年人的康复训练。但现有下肢康复外骨骼装置存在诸多问题，在工程实用性方面与穿戴者的预期方面存在较大差异，从而导致下肢外骨骼不能得到广泛的推广应用。
现有下肢外骨骼在灵活度和重量之间的平衡失调，例如，为增加灵活度而增加更多驱动装置，使得下肢康复外骨骼的整备质量过大，且需要有专业人员帮助穿戴，导致用户无法独立使用下肢外骨骼装置，并且影响穿戴用户时间和舒适性，运动康复效果不理想。有些下肢外骨骼康复机器人为减轻质量，无法帮助用户完成复杂动作，降低了用户使用下肢外骨骼的灵活性。现有的下肢外骨骼大都不能主动实现转弯行走功能，这会明显降低穿戴者在日常生活中的使用体验和实用性，
发明内容
有鉴于此，本发明提供一种用于康复助力的下肢动力外骨骼装置，针对下肢各个关节的运动特点，采用仿生设计提出了智能关节驱动器，从而大大降低关节驱动器的功耗，同时简化控制器的质量和控制难度，提高装置的工程实用性能。同时，本发明在下肢外骨骼的主动转弯方面进行了改 进，通过在水平面巧妙的引入自由度和对应驱动器实现外骨骼的转弯运动。
为了解决上述问题，本发明的实施例提供了一种用于康复助力的下肢动力外骨骼装置，其特殊之处在于，包括：
踝关节矢状面驱动单元，该驱动单元为主动驱动单元、半被动驱动单元、和被动驱动单元中的一种，实现踝关节在矢状面的关节驱动；
膝关节矢状面驱动单元，该驱动单元为主动驱动单元和半被动驱动单元中的一种，实现膝关节在矢状面的关节驱动；
髋关节矢状面驱动单元，该驱动单元为主动驱动单元，实现髋关节在矢状面的关节驱动；
髋关节水平面驱动单元，该驱动单元为主动驱动单元和被动驱动单元，实现髋关节在水平面的关节驱动；
关节驱动器连接框架，包括腰部连接框架、大腿连接框架和小腿连接框架，该关节驱动器连接框架将所述踝关节矢状面驱动单元、膝关节矢状面驱动单元、髋关节矢状面驱动单元和髋关节水平面驱动单元连接固定；
下肢固定支架，包括腰部固定支架、大腿固定支架、小腿固定支架和脚掌固定支架，所述下肢固定支架用于将所述外骨骼装置穿戴者的腰部、下肢大腿、小腿、和脚板与所述外骨骼装置固定；
传感器，所述传感器安装在所述外骨骼装置和外骨骼装置穿戴者身上，用于检测外骨骼的运动状态和解码外骨骼穿戴者的运动意图；
控制器，用于控制所述踝关节矢状面驱动单元、膝关节矢状面驱动单元、髋关节矢状面驱动单元和髋关节水平面驱动单元的运动角度、角速度和输出力矩；
电源，用于为所述外骨骼装置的驱动单元、传感器和控制器供电。
进一步地，所述腰部固定支架固定在腰部连接框架上，所述大腿固定支架固定在大腿连接框架上，所述小腿固定支架固定在小腿连接框架上，所述脚掌固定支架通过踝关节矢状面驱动单元与小腿连接框架连接。
进一步地，所述的腰部连接框架与大腿连接框架通过平面铰链连接和球面连接中的一种，所述大腿连接框架与小腿连接框架通过平面铰链连接。
进一步地，所述髋关节矢状面驱动单元由两个拮抗布置的直线驱动器驱动，所述直线驱动器包含直流电机，直流电机配合螺纹丝杆传动，同时具备位移反馈和力反馈，所述直线驱动器与腰部连接框架和大腿连接框架形成曲柄滑块结构，可主动控制所述髋关节在矢状面的转动角度、角速度和关节力矩。
进一步地，所述髋关节水平状面驱动单元为主动驱动单元，该驱动单元由两个拮抗布置的直线驱动器驱动，所述直线驱动器包含直流电机，直流电机配合螺纹丝杆传动，同时具备位移反馈和力反馈，所述直线驱动器与腰部连接框架和大腿连接框架形成曲柄滑块结构，可主动控制所述髋关节在水平面的转动角度、角速度和关节力矩，实现转弯运动，所述的螺纹丝杆传动具有电机断电自锁功能。
进一步地，所述髋关节水平面驱动单元为被动驱动单元，该被动驱动单元由回复弹簧驱动，可使所述腰部连接框架和所述大腿连接框架回到初始相对位置，所述外骨骼装置在所述外骨骼装置穿戴者的主动驱动下能实现水平面内的转动。
所述被动驱动单元中的回复弹簧为线性弹簧、扭转弹簧和气动弹簧中的一种。
进一步地，所述膝关节矢状面驱动单元为主动驱动单元，该驱动单元由两个拮抗布置的直线驱动器驱动，所述直线驱动器包含直流电机，直流电机配合螺纹丝杆传动，同时具备位移反馈和力反馈，直线驱动器与大腿连接框架和小腿连接框架形成曲柄滑块结构，可主动控制所述膝关节在矢状面的转动角度、角速度和关节力矩。
进一步地，所述膝关节矢状面驱动单元为主动驱动单元，该驱动单元由拮抗布置的直线驱动单元和磁控阻尼器驱动，所述直线驱动器包含直流 电机，直流电机配合螺纹丝杆传动，同时具备位移反馈和力反馈，与大腿连接框架和小腿连接框架形成曲柄滑块结构，可主动控制所述膝关节在矢状面的转动角度、角速度和关节力矩，所述磁控阻尼器与与大腿连接框架和小腿连接框架形成曲柄滑块结构，通过控制所述磁控阻尼器的励磁电流，可被动控制所述膝关节在矢状面的转动角度、角速度和关节力矩。
进一步地，所述膝关节矢状面驱动单元为半被动驱动单元，由磁控阻尼器驱动配合回复弹簧驱动，所述回复弹簧可驱动所述膝关节在矢状面伸展回复到初始位置，所述磁控阻尼器与大腿连接框架和小腿连接框架形成曲柄滑块结构，通过控制所述磁控阻尼器的励磁电流，可被动控制所述膝关节在矢状面弯曲和伸展时的转动角度、角速度和关节力矩。
进一步地，所述踝关节矢状面驱动单元为主动驱动单元，该主动驱动单元由直流电机配合齿轮减速器和谐波减速器中一种组成，能主动控制所述踝关节在矢状面的转动角度、角速度、和输出力矩。
进一步地，所述踝关节矢状面驱动单元为半被动单元，该半被动制动器由磁控阻尼器驱动配合回复弹簧驱动，所述回复弹簧驱动膝关节在矢状面伸展回复到初始位置，所述磁控阻尼器与与小腿连接框架和脚掌固定支架形成曲柄滑块结构，其中小腿连接框架与所述脚掌固定支架通过平面铰链连接，通过控制所述磁控阻尼器的励磁电流，可被动控制所述踝关节在矢状面弯曲和伸展时的转动角度、角速度和关节力矩。
进一步地，所述踝关节矢状面驱动单元为被动驱动单元，该被动驱动单元包括回复弹簧组成，所述回复弹簧可帮助小腿连接框架与脚掌固定支架的相对角度回到初始位置，所述小腿连接框架与所述脚掌固定支架通过平面铰链连接。
所述被动驱动单元中的回复弹簧为线性弹簧、扭转弹簧和气动弹簧中的一种。
进一步地，所述下肢固定支架用于将下肢外骨骼装置与下肢外骨骼装置穿戴者固定，为提高穿戴舒适性，使固定牢固，同时降低接触应力集中，所述下肢固定支架在部分承力区采用负泊松比智能结构单元制备。
进一步地，所述下肢固定支架的内表面集成有曲面压力测量单元，该压力测量单元测量下肢外骨骼装置与下肢外骨骼装置穿戴者间的接触应力，所测量的接触应力可用于量化下肢固定支架的穿戴舒适性，同时可用于解码下肢外骨骼穿戴者的运动意图。
进一步地，所述传感器包括下肢肌电传感器(EMG)、各个关节角度传感器、下肢固定支架上分布的压力传感器、下肢固定支架上分布的压力测量单元，以及安装在下肢脚掌、小腿、大腿、腰部的惯性测量单元(IMU)等。
进一步地，所述下肢肌电传感器(EMG)用于检测下肢外骨骼穿戴者的肌肉的肌电信号，从而解码穿戴者的运动意图，量化穿戴的康复效果，同时检测下肢的肌肉运动疲劳等信息。
下肢固定支架上分布的压力测量单元用于检测上述外骨骼和穿戴者肢体之间的相互作用力和作用力矩，包括固定支架和用户大腿和小腿之间的相互作用力和作用力矩，以及用户跖底和下肢外骨骼足底支撑板之间的相互作用力和作用力矩；惯性测量单元用于反馈下肢外骨骼装置运动信息，包括运动方向、运动速度、运动加速度，角度，角速度。
所述控制器基于角度传感器、压力传感器、肌电信号检测传感器获取的信号识别用户的运动意图，进一步控制下肢外骨骼装置的各个直流电机和阻尼器的输出力矩，从而控制下肢外骨骼装置的髋关节、膝关节、踝关节、大腿和小腿结构的运动轨迹和运动姿态。
所述压力传感器安装到固定支架内侧和足底支撑板，用于测量用户与固定支架之间的相互作用力和用户与地面之间的相互作用力。
所述控制器用于控制下肢外骨骼装置的髋关节、膝关节和踝关节按照设定的方向、角度，角速度，角加速度进行旋转，控制大腿结构和小腿结 构按照设定的位姿进行摆动，同时控制所述固定支架和所述下肢外骨骼装置穿戴者之间的相互作用力和作用力矩。
与现有技术相比，本发明的用于康复助力的下肢动力外骨骼装置至少具有下列有益效果：
1)下肢动力外骨骼装置用于帮助下肢运动功能受损患者，如下肢中风患者等实现行走康复训练，使下肢各个关节实现对应的运动功能，向患者提供助力，使患者更加轻松地完成站立，行走，转身，坐下等动作；
2)该下肢动力外骨骼装置针对下肢各个关节的运动特点，采用仿生设计提出了智能关节驱动器，从而大大降低关节驱动器的功耗，同时简化控制器的质量和控制难度，提高装置的工程实用性能；同时，本发明在下肢外骨骼的主动转弯方面进行了改进，通过在水平面巧妙的引入自由度和对应驱动器实现外骨骼的转弯运动；
3)该下肢动力外骨骼装置的髋关节的矢状面采用了拮抗驱动的直线驱动单元驱动实现髋关节的弯曲与伸展运动，髋关节的水平面采用了具有断电自锁功能的直线驱动单元实现外骨骼的转弯运动；膝关节的矢状面采用了直线驱动单元配合磁流变制动器，该驱动方式可明显降低膝关节驱动器的功耗同时简化控制难度；此外，为提高外骨骼装置与穿戴者的人机交互性能，对外骨骼下肢固定支架进行了改进，引入了智能结构单元和曲面应力检测。该动力外骨骼装置主要用于帮助下肢运动功能受损患者，如下肢中风患者，等实现行走康复训练。
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为本发明正面整体结构示意图；
图2为本发明背面整体结构示意图；
图3为本发明侧面整体结构示意图；
图4为本发明中髋关节水平面主动驱动单元结构示意图；
图5为本发明中髋关节水平面被动驱动单元结构示意图；
图6为本发明中髋关节矢状面主动驱动单元结构和运动示意图；
图7为本发明中膝关节矢状面主动驱动单元结构示意图；
图8为本发明中膝关节矢状面被动驱动单元结构示意图；
图9为本发明踝关节矢状面主动驱动单元结构示意图；
图10为本发明中踝关节矢状面半被动驱动单元结构示意图；
图11为本发明中踝关节矢状面被动驱动单元结构示意图；
图12为本发明中大腿下肢固定支架示意图；
图13为本发明中直线驱动器结构示意图；
图14为本发明中磁控阻尼驱动器结构示意图；
图15为本发明中回复弹簧驱动器结构示意图；
图16为用于康复助力的下肢动力外骨骼装置一个完整步态周期运动示意图；
图17为人体完整步态周期髋关节、膝关节和踝关节矢状面角度变化示意图(地面测力板上行走)；
图18为人体完整步态周期髋关节、膝关节和踝关节关节力矩变化示意图(地面测力板上行走)；
图19为人体完整步态周期髋关节、膝关节和踝关节关节功率变化示意图(地面测力板上行走)；
图20为人体步态周期地面测力板反作用力变化示意图(正常人在地面测力板上行走)；
其中：1、控制背包；2、腰部固定支架；3、大腿固定支架；4、第三直流电机4；5、第七直流电机；6、小腿固定支架；7、第九直流电机；8、第五直流电机；9、第八直流电机；10、第十直流电机；11、第一直流电机；12、第四直流电机；13、第一磁控阻尼器；14、第二直流电机；15、第六直流电机；16、第二磁控阻尼器；17、限位器；18、螺纹丝杆；19、力传感器；20、磁流变液阀；21、磁流变液导流管；22、液压缸；23、回复弹簧；24、柔性压力传感器；25、负泊松比智能结构单元。
具体实施方式
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解,此处所描述的具体实施例仅用以解释本发明，并不用于限定本发明。本发明意图更普遍地应用于康复外骨骼机器人中，因此本发明可用于具有适于具体应用所需的任何实际应用中。
本发明提出一种用于康复助力的下肢动力外骨骼装置，该下肢外骨骼装置硬件部分包括：髋关节水平面驱动单元、髋关节矢状面驱动单元、膝关节矢状面驱动单元、踝关节矢状面驱动单元、关节驱动器连接框架、下肢固定支架、传感器、控制器和电源。
所述踝关节矢状面驱动单元用于实现踝关节在矢状面的关节驱动；膝关节矢状面驱动单元实现膝关节在矢状面的关节驱动；髋关节矢状面驱动单元实现髋关节在矢状面的关节驱动；髋关节水平面驱动单元实现髋关节在水平面的关节驱动。
所述关节驱动器连接框架包括腰部连接框架、大腿连接框架和小腿连接框架，该关节驱动器连接框架将踝关节矢状面驱动单元、膝关节矢状面 驱动单元、髋关节矢状面驱动单元和髋关节水平面驱动单元连接固定。
所述下肢固定支架包括腰部固定支架、大腿固定支架、小腿固定支架和脚掌固定支架，所述下肢固定支架用于将所述外骨骼装置穿戴者的腰部、下肢大腿、小腿、和脚板与所述外骨骼装置固定。所述传感器安装在所述外骨骼装置和外骨骼装置穿戴者身上，用于检测外骨骼的运动状态和解码外骨骼穿戴者的运动意图；控制器用于控制所述踝关节矢状面驱动单元、膝关节矢状面驱动单元、髋关节矢状面驱动单元和髋关节水平面驱动单元的运动角度、角速度和输出力矩；电源用于为所述外骨骼装置的驱动单元、传感器和控制器供电。
具体地，参见图1，控制背包1通过连接件安装至背部支撑板的固定位置，控制背包内设有信号处理模块、控制器、驱动模块和电源。背部支撑板固定在腰部固定支架2上。
作为本发明的一个优选实施例，髋关节水平面驱动单元可以为主动驱动单元，也可以为被动驱动单元，
具体地，参见图2和图4，所述髋关节水平面驱动单元为主动驱动单元时，所述髋关节水平面主动驱动单元由两个拮抗布置的直线驱动器构成，参见图13，两个直线驱动器分别由第一直流电机11配合螺纹丝杆18传动和第二直流电机14配合螺纹丝杆18传动组成，直线驱动器通过关节轴承分别连接腰部固定支架2和腰部连接框架，构成曲柄滑块结构，第一直流电机11和第二直流电机14动态输出的旋转力矩或保持力矩通过螺纹丝杆18传动，用于驱动下肢外骨骼装置的髋关节水平面的内旋和外展运动，或保持穿戴者髋关节水平面的站立锁定状态，主动控制上述髋关节水平面的旋转角度、角速度和关节力矩。例如，当中风病人穿戴上述下肢外骨骼装置向右转身时，第一直流电机11正转提供旋转力矩，通过螺纹丝杆18正向线性位移，驱动下肢外骨骼装置一侧髋关节在水平面外旋，第二直流电机14反转提供反向旋转力矩，通过螺纹丝杆18反向线性位移，驱动下肢 外骨骼装置另一侧髋关节在水平面内旋，从而控制外骨骼髋关节在水平面旋转到预定位置，在旋转过程中，通过所述下肢外骨骼装置的腰部固定支架向用户传递运动助力，帮助用户完成转身动作。
具体地，参见图5和图15，所述髋关节水平面驱动单元为被动驱动单元时，该被动驱动单元由回复弹簧驱动，回复弹簧通过关节轴承分别连接腰部固定支架2和腰部连接框架，可使所述腰部连接框架和所述大腿连接框架回到初始相对位置，所述外骨骼装置在所述外骨骼装置穿戴者的主动驱动下能实现水平面内的转动。所述被动驱动单元中的回复弹簧可以采用线性弹簧、扭转弹簧和气动弹簧中的任意一种。
作为本发明的一个优选实施例，所述髋关节矢状面驱动单元，该驱动单元为主动驱动单元。
具体地，参见图1-图3以及图6，所述髋关节矢状面主动驱动单元位于装置的两侧，每个髋关节矢状面主动驱动单元由两个拮抗布置的直线驱动器构成，一侧髋关节矢状面驱动单元由第三直流电4和第四直流电机12配合螺纹丝杆18传动，另一侧髋关节矢状面驱动单元由第五直流电机8和第六直流电机15配合螺纹丝杆18传动，直线驱动器连接腰部连接框架和大腿连接框架构成曲柄滑块结构，第三直流电机4、第四直流电机12、第五直流电机8和第六直流电机15通过螺纹丝杆18动态输出旋转力矩或保持力矩，用于驱动下肢外骨骼装置的髋关节在矢状面的流畅旋转，或保持所述髋关节在矢状面的站立锁定，主动控制上述髋关节矢状面的旋转角度、角速度和关节力矩。例如，参见图6，当中风病人穿戴上述下肢外骨骼装置行走时，第三直流电机4正转旋转提供旋转力矩，第四直流电机12反转旋转提供反向旋转力矩，驱动下肢外骨骼装置一侧髋关节在矢状面前摆至预定位置，第五直流电机8正转旋转提供旋转力矩，第六直流电机15反转旋转提供反向旋转力矩，驱动下肢外骨骼装置另一侧髋关节在矢状面后摆至预定位置，两侧髋关节在矢状面交替进入摆动相和支撑相。
具体地，参见图4和图5，所述腰部固定支架与腰部连接框架之间通过平面铰链连接。
作为本发明的一个优选实施例，所述膝关节矢状面驱动单元为主动驱动单元或半被动驱动单元中。
具体地，参见图2、图3、图7、图13和图14，所述膝关节矢状面主动驱动单元由拮抗布置的直线驱动单元和磁控阻尼器驱动组成，一侧膝关节矢状面驱动单元由第七直流电机配合螺纹丝杆18传动和第一磁控阻尼器13驱动构成，另一侧膝关节矢状面驱动单元由第八直流电机配合螺纹丝杆18传动和第二磁控阻尼器16驱动构成，直线驱动器通过关节轴承连接大腿连接框架和小腿连接框架构成曲柄滑块结构，直流电机通过螺纹丝杆18传动动态输出保持力矩或输出力矩，用于保持下肢外骨骼装置膝关节在矢状面的站立锁或流畅摆动，主动控制上述膝关节矢状面的旋转角度、角速度和关节力矩。例如，当中风病人穿戴上述下肢外骨骼装置行走，第七直流电机正转旋转提供旋转力矩，驱动下肢外骨骼装置的一侧膝关节在矢状面摆动至预定位置，第八直流电机反转旋转提供反向旋转力矩，驱动下肢外骨骼装置的另一侧膝关节在矢状面摆动至预定位置，使两侧小腿结构交替摆动相和支撑相。
参见图2和图7，第一磁控阻尼器13、第二磁控阻尼器16配合滑杆传动构成磁控阻尼器驱动单元，磁控阻尼驱动器驱动单元通过关节轴承连接所述下肢外骨骼装置的大腿连接框架和小腿连接框架构成曲柄滑块结构，第一磁控阻尼器13驱动单元和第七直线驱动器拮抗布置在一侧，第二磁控阻尼器16驱动单元和第八直线驱动器拮抗布置在另一侧，磁控阻尼器输出静态阻尼力或动态阻尼力，用于保持所述下肢外骨骼膝关节在矢状面的战力锁定或流畅摆动，通过控制磁控阻尼器励磁电流，被动控制所述髋关节在矢状面的旋转角度、角速度和关节力矩。
具体地，参见图8，所述膝关节矢状面驱动单元为半被动驱动单元时， 其由磁控阻尼器驱动配合回复弹簧驱动，所述回复弹簧可驱动所述膝关节在矢状面伸展回复到初始位置，所述磁控阻尼器与大腿连接框架和小腿连接框架形成曲柄滑块结构，通过控制所述磁控阻尼器的励磁电流，可被动控制所述膝关节在矢状面弯曲和伸展时的转动角度、角速度和关节力矩。
作为本发明的一个优选实施例，所述踝关节矢状面驱动单元可以采用主动驱动单元，该主动驱动单元由直流电机配合齿轮减速器和谐波减速器中一种组成，能主动控制所述踝关节在矢状面的转动角度、角速度、和输出力矩。
具体地，参见图9，主动驱动单元由第九直流电机7或第十直流电机10配合齿轮减速器构成，上述踝关节矢状面主动驱动单元固定至下肢外骨骼装置小腿支撑板的末端，动态输出保持力矩和旋转力矩，用于保持下肢外骨骼踝关节的站立锁定或用于驱动所述下肢外骨骼装置踝关节在矢状面的转动，主动控制所述踝关节在矢状面的转动角度、角速度和关节力矩。
作为本发明的一个优选实施例，参见图10，所述踝关节矢状面驱动单元也可以是半被动单元，该半被动单元由磁控阻尼器驱动配合回复弹簧23驱动。磁控阻尼器包括磁流变液阀20、磁流变液导流管21和液压缸22。所述回复弹簧23驱动膝关节在矢状面伸展回复到初始位置，所述磁控阻尼器与与小腿连接框架和脚掌固定支架形成曲柄滑块结构，其中小腿连接框架与所述脚掌固定支架通过平面铰链连接，通过控制所述磁控阻尼器的励磁电流，可被动控制所述踝关节在矢状面弯曲和伸展时的转动角度、角速度和关节力矩。
作为本发明的一个优选实施例，参见图11，所述踝关节矢状面驱动单元也可以为被动驱动单元，该被动驱动单元包括两个对称的回复弹簧，所述回复弹簧可帮助小腿连接框架与脚掌固定支架的相对角度回到初始位置，所述小腿连接框架与所述脚掌固定支架通过平面铰链连接。所述被动驱动单元中的回复弹簧为线性弹簧、扭转弹簧和气动弹簧中的任意一种。
作为本发明的一个优选实施例，所述下肢固定支架的内表面集成有曲面压力测量单元，该压力测量单元测量下肢外骨骼装置与下肢外骨骼装置穿戴者间的接触应力，所测量的接触应力可用于量化下肢固定支架的穿戴舒适性，同时可用于解码下肢外骨骼穿戴者的运动意图。
具体地，所述传感器包括下肢肌电传感器(EMG)、各个关节角度传感器、下肢固定支架上分布的压力传感器、下肢固定支架上分布的压力测量单元，以及安装在下肢脚掌、小腿、大腿、腰部的惯性测量单元(IMU)等。
进一步地，所述下肢肌电传感器(EMG)用于检测下肢外骨骼穿戴者的肌肉的肌电信号，从而解码穿戴者的运动意图，已经量化穿戴的康复效果，同时检测下肢的肌肉运动疲劳等信息。
下肢固定支架上分布的压力测量单元用于检测上述外骨骼和穿戴者肢体之间的相互作用力和作用力矩，包括固定支架和用户大腿和小腿之间的相互作用力和作用力矩，以及用户跖底和下肢外骨骼足底支撑板之间的相互作用力和作用力矩；惯性测量单元用于反馈下肢外骨骼装置运动信息，包括运动方向、运动速度、运动加速度，角度，角速度。
所述控制器基于角度传感器、压力传感器、肌电信号检测传感器获取的信号识别用户的运动意图，进一步控制下肢外骨骼装置的各个直流电机和阻尼器的输出力矩，控制下肢外骨骼装置的髋关节、膝关节和踝关节按照设定的方向、角度，角速度，角加速度进行旋转，从而控制下肢外骨骼装置的髋关节、膝关节、踝关节、大腿和小腿结构的运动轨迹和运动姿态。
所述压力传感器安装到固定支架内侧和足底支撑板，用于测量用户与固定支架之间的相互作用力和用户与地面之间的相互作用力。
具体地，足底压力传感器固定在所述脚掌固定支架的上表面，用于反馈穿戴者足底与下肢外骨骼装置脚掌固定支架之间的相互作用力。
具体地，在所述髋关节矢状面连接处、膝关节矢状面连接处和踝关节矢状面连接处安装电位器，用于反馈下肢外骨骼所述髋关节、膝关节和踝 关节矢状面的旋转角度。
具体地，肌电信号检测传感器安装在大腿固定支架3、小腿固定支架6内表面，通过信号处理和计算，实时向控制背包反馈下肢主要肌肉产生的电信号，通过解码获得穿戴者的肌肉力量和疲劳程度信息。参见图12，为实时检测穿戴者大腿和小腿与所述下肢外骨骼装置大腿固定支架3和小腿固定支架6之间的相互作用力，在腰部固定支架、大腿固定支架3和小腿固定支架6的内表面固定柔性压力传感器24。参见图3，在螺纹丝杆18与关节轴承连接处固定力传感器19，用于测量直线驱动器中螺纹丝杆18的轴向力。
具体地，参见图12，在腰部固定支架、大腿固定支架3、小腿固定支架6和脚掌固定支架的力敏感区应用负泊松比智能结构单元25，用于提高穿戴者的舒适感，同时实现固定牢固，降低接触应力集中现象。在控制背包中安装惯性测量单元，用于测量反馈所述下肢外骨骼的运动方向、运动速度、运动加速度、角度和角速度。
综上，本发明提出的用于康复助力的下肢动力外骨骼装置对外骨骼下肢固定支架进行了改进，引入了智能结构单元和曲面应力检测，提高了外骨骼装置与穿戴者的人机交互性能，用于帮助下肢运动功能受损患者，如下肢中风患者，等实现行走康复训练。图16为本发明提出的用于康复助力的下肢动力外骨骼装置的一个完整步态周期运动状态，图17-图19展示了该装置在地面测力板上行走时，在人体完整步态周期髋关节、膝关节和踝关节矢状面角度、关节力矩、关节功率变化示意图；图20为人体步态周期地面测力板反作用力变化图(正常人在地面测力板上行走)。
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 (14)

  1. 一种用于康复助力的下肢动力外骨骼装置，其特征在于，包括：
    踝关节矢状面驱动单元，该驱动单元为主动驱动单元、半被动驱动单元、和被动驱动单元中的一种，实现踝关节在矢状面的关节驱动；
    膝关节矢状面驱动单元，该驱动单元为主动驱动单元和半被动驱动单元中的一种，实现膝关节在矢状面的关节驱动；
    髋关节矢状面驱动单元，该驱动单元为主动驱动单元，实现髋关节在矢状面的关节驱动；
    髋关节水平面驱动单元，该驱动单元为主动驱动单元或被动驱动单元，实现髋关节在水平面的关节驱动；
    关节驱动器连接框架，包括腰部连接框架、大腿连接框架和小腿连接框架，该关节驱动器连接框架将所述踝关节矢状面驱动单元、膝关节矢状面驱动单元、髋关节矢状面驱动单元和髋关节水平面驱动单元连接固定；
    下肢固定支架，包括腰部固定支架、大腿固定支架、小腿固定支架和脚掌固定支架，所述下肢固定支架用于将所述外骨骼装置穿戴者的腰部、下肢大腿、小腿、和脚板与所述外骨骼装置固定；
    传感器，所述传感器安装在所述外骨骼装置和外骨骼装置穿戴者身上，用于检测外骨骼的运动状态和解码外骨骼穿戴者的运动意图；
    控制器，用于控制所述踝关节矢状面驱动单元、膝关节矢状面驱动单元、髋关节矢状面驱动单元和髋关节水平面驱动单元的运动角度、角速度和输出力矩；
    电源，用于为所述外骨骼装置的驱动单元、传感器和控制器供电。
  2. 根据权利要求1所述的用于康复助力的下肢动力外骨骼装置，其特征在于：
    所述腰部固定支架固定在腰部连接框架上，所述大腿固定支架固定在大腿连接框架上，所述小腿固定支架固定在小腿连接框架上，所述脚掌固定支架通过踝关节矢状面驱动单元与小腿连接框架连接。
  3. 根据权利要求1所述的用于康复助力的下肢动力外骨骼装置，其特征在于：
    所述腰部连接框架与大腿连接框架通过平面铰链连接和球面连接中的一种，所述大腿连接框架与小腿连接框架通过平面铰链连接。
  4. 根据权利要求1所述用于康复助力的下肢动力外骨骼装置，其特征在于：
    所述髋关节矢状面驱动单元由两个拮抗布置的直线驱动器驱动，所述直线驱动器包含直流电机，直流电机配合螺纹丝杆传动，同时具备位移反馈和力反馈，所述直线驱动器与腰部连接框架和大腿连接框架形成曲柄滑块结构，可主动控制所述髋关节在矢状面的转动角度、角速度和关节力矩。
  5. 根据权利要求1所述用于康复助力的下肢动力外骨骼装置，其特征在于：
    所述髋关节水平状面驱动单元为主动驱动单元，该驱动单元由两个拮抗布置的直线驱动器驱动，所述直线驱动器包含直流电机，直流电机配合螺纹丝杆传动，同时具备位移反馈和力反馈，所述直线驱动器与腰部连接框架和大腿连接框架形成曲柄滑块结构，可主动控制所述髋关节在水平面的转动角度、角速度和关节力矩，实现转弯运动，所述的螺纹丝杆传动具有电机断电自锁功能。
  6. 根据权利要求1所述用于康复助力的下肢动力外骨骼装置，其特征在于：
    所述髋关节水平面驱动单元为被动驱动单元，该被动驱动单元由回复弹簧驱动，可使所述腰部连接框架和所述大腿连接框架回到初始相对位置，所述外骨骼装置在所述外骨骼装置穿戴者的主动驱动下能实现水平面内的转动。
  7. 根据权利要求1所述用于康复助力的下肢动力外骨骼装置，其特征在于：
    所述膝关节矢状面驱动单元为主动驱动单元，该驱动单元由两个拮抗布置的直线驱动器驱动，所述直线驱动器包含直流电机，直流电机配合螺纹丝杆传动，同时具备位移反馈和力反馈，直线驱动器与大腿连接框架和小腿连接框架形成曲柄滑块结构，可主动控制所述膝关节在矢状面的转动角度、角速度和关节力矩。
  8. 根据权利要求1所述用于康复助力的下肢动力外骨骼装置，其特征在于：
    所述膝关节矢状面驱动单元为主动驱动单元，该驱动单元由拮抗布置的直线驱动单元和磁控阻尼器驱动，所述直线驱动器包含直流电机，直流电机配合螺纹丝杆传动，同时具备位移反馈和力反馈，与大腿连接框架和小腿连接框架形成曲柄滑块结构，可主动控制所述膝关节在矢状面的转动角度、角速度和关节力矩，所述磁控阻尼器与与大腿连接框架和小腿连接框架形成曲柄滑块结构，通过控制所述磁控阻尼器的励磁电流，可被动控制所述膝关节在矢状面的转动角度、角速度和关节力矩。
  9. 根据权利要求1所述用于康复助力的下肢动力外骨骼装置，其特征在于：
    所述膝关节矢状面驱动单元为半被动驱动单元，由磁控阻尼器驱动配合回复弹簧驱动，所述回复弹簧可驱动所述膝关节在矢状面伸展回复到初始位置，所述磁控阻尼器与大腿连接框架和小腿连接框架形成曲柄滑块结构，通过控制所述磁控阻尼器的励磁电流，可被动控制所述膝关节在矢状面弯曲和伸展时的转动角度、角速度和关节力矩。
  10. 根据权利要求1所述用于康复助力的下肢动力外骨骼装置，其特征在于：
    所述踝关节矢状面驱动单元为主动驱动单元，该主动驱动单元由直流电机配合齿轮减速器和谐波减速器中一种组成，能主动控制所述踝关节在矢状面的转动角度、角速度、和输出力矩。
  11. 根据权利要求1所述用于康复助力的下肢动力外骨骼装置，其特征在于：
    所述踝关节矢状面驱动单元为半被动单元，该半被动制动器由磁控阻尼器驱动配合回复弹簧驱动，所述回复弹簧可驱动所述膝关节在矢状面伸展回复到初始位置，所述磁控阻尼器与与小腿连接框架和脚掌固定支架形成曲柄滑块结构，其中小腿连接框架与所述脚掌固定支架通过平面铰链连接，通过控制所述磁控阻尼器的励磁电流，可被动控制所述踝关节在矢状面弯曲和伸展时的转动角度、角速度和关节力矩。
  12. 根据权利要求1所述用于康复助力的下肢动力外骨骼装置，其特征在于：
    所述踝关节矢状面驱动单元为被动驱动单元，该被动驱动单元包括回复弹簧组成，所述回复弹簧可帮助小腿连接框架与脚掌固定支架的相对角度回到初始位置，所述小腿连接框架与所述脚掌固定支架通过平面铰链连接。
  13. 根据权利要求1所述用于康复助力的下肢动力外骨骼装置，其特征在于：
    所述下肢固定支架用于将下肢外骨骼装置与下肢外骨骼装置穿戴者固定，所述下肢固定支架在部分承力区设有负泊松比智能结构单元。
  14. 根据权利要求1所述用于康复助力的下肢动力外骨骼装置，其特征在于：
    所述下肢固定支架的内表面集成有曲面压力测量单元，该压力测量单元测量所述下肢外骨骼装置与所述下肢外骨骼装置穿戴者间的接触应力，所测量的接触应力可用于量化所述下肢固定支架的穿戴舒适性，同时可用于解码所述下肢外骨骼穿戴者的运动意图。
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