CN105816298A - Wearable ankle protection and foot power assisting device - Google Patents
Wearable ankle protection and foot power assisting device Download PDFInfo
- Publication number
- CN105816298A CN105816298A CN201610347204.1A CN201610347204A CN105816298A CN 105816298 A CN105816298 A CN 105816298A CN 201610347204 A CN201610347204 A CN 201610347204A CN 105816298 A CN105816298 A CN 105816298A
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- Prior art keywords
- ankle
- wearable
- foot
- power assisting
- assisting device
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- 210000002683 foot Anatomy 0.000 title claims abstract description 51
- 210000003423 ankle Anatomy 0.000 title claims abstract description 50
- 230000005484 gravity Effects 0.000 claims abstract description 6
- 230000003139 buffering effect Effects 0.000 claims abstract description 4
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 35
- 210000004744 fore-foot Anatomy 0.000 claims description 12
- 238000010276 construction Methods 0.000 claims description 9
- 239000000463 material Substances 0.000 claims description 9
- 239000000470 constituent Substances 0.000 claims description 6
- 239000013536 elastomeric material Substances 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 6
- 244000309466 calf Species 0.000 claims description 3
- 239000010985 leather Substances 0.000 claims description 3
- 239000004033 plastic Substances 0.000 claims description 3
- 210000003141 lower extremity Anatomy 0.000 abstract description 16
- 239000011664 nicotinic acid Substances 0.000 abstract 1
- 230000008878 coupling Effects 0.000 description 6
- 238000010168 coupling process Methods 0.000 description 6
- 238000005859 coupling reaction Methods 0.000 description 6
- 210000001624 hip Anatomy 0.000 description 3
- 210000000689 upper leg Anatomy 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 208000010040 Sprains and Strains Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 210000004394 hip joint Anatomy 0.000 description 1
- 210000000629 knee joint Anatomy 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0266—Foot
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- 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
- A61H2201/01—Constructive details
- A61H2201/0157—Constructive details portable
-
- 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
- A61H2201/1253—Driving means driven by a human being, e.g. hand driven
- A61H2201/1261—Driving means driven by a human being, e.g. hand driven combined with active exercising of the patient
-
- 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
-
- 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
-
- 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
Landscapes
- Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Engineering & Computer Science (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a wearable ankle protection and foot power assisting device, and belongs to the technical field of human body bionic exoskeletons. The structure of an existing human body lower limb exoskeleton is improved, the wearable device with an ankle protection and foot power assisting function is individually designed, and a force returning structure is additionally arranged on the ankle, so that the wearable ankle protection and foot power assisting device has the corresponding freedom degree and force returning function when a user walks front and back, and meanwhile the corresponding freedom degree of vertically buffering gravity and force returning function are achieved. The device can be widely applied to various fields of power assisting, disabled helping and health correction.
Description
Technical field
The invention belongs to simulation of human body ectoskeleton technical field, relate to human body lower limbs ectoskeleton, be specifically related to a kind of have ankle protection and the wearable device of foot assist function.
Background technology
Ectoskeleton is that one can provide biological soft inside organ is carried out configuration, the hard external structure built and protect.People's exoskeleton is also referred to as robotic exoskeleton, refers to the robot being enclosed within outside human body, also referred to as " wearable robot ".Exoskeleton robot technology is to merge sensing, control, information, fusion, mobile computing, for as people the complex art of a kind of wearable frame for movement is provided.
The ectoskeletal research of human body originates from the individual soldier in Military Application the earliest and bears a heavy burden the demand in terms of demand, i.e. power-assisted.Along with scientific and technological progress and the raising of living standards of the people, various " power-assisteds ", " helping the disabled ", people's exoskeleton research of " healthy rectification " start to rise.
Functionally distinguishing, people's exoskeleton relates generally to several big types such as " power-assisted ", " helping the disabled ", " healthy rectification "；From there being unpowered upper differentiation, " active " the people's exoskeleton power of walking (this robot can provide for wearer) and " passive-type " people's exoskeleton (this robot can not provide, for wearer, the power walked, and its action passively follows the action of people and action) are provided.
Human body lower limbs ectoskeleton, generally include for human body lower limbs motion profiling mechanism structure with for by profiling mechanism structure coupling assembly together with body-coupled.Wherein, the profiling mechanism structure for human body lower limbs motion includes lower limb structure and hip structure.Described lower limb structure includes left lower limb structure and right lower limb structure, described left lower limb structure all includes imitative human thigh's structure, shank structure and foot structure with right lower limb structure, described thigh structure is connected by knee joint rotating shaft with shank structure, and described shank structure is connected by ankle joint rotating shaft with foot structure；Described hip structure is connected by hip joint rotating shaft respectively with left lower limb structure, right lower limb structure.Described coupling assembly includes waist coupling unit, thigh coupling unit, shank coupling unit, foot coupling unit.
Recover and foot power-assisted aspect for independent ankle from sprains, lack the report of the wearable device with ankle protection and foot assist function at present.
Summary of the invention
The present invention provides the protection of a kind of Wearable ankle and foot power assisting device, by improving existing human body lower limbs ectoskeleton structure, individually designed goes out to have ankle protection and the wearable device of foot assist function.
The technical scheme is that
A kind of Wearable ankle protection and foot power assisting device, including the wearable structure of foot, shank link 001, ankle rotation axis 002 and ankle joint base 013；Described ankle joint base 013 is fixed on the side of foot wearable structure heel region; described ankle rotation axis 002 is installed on the installation station of ankle joint base 012; use ankle joint connecting pin 015 to be connected with rotating shaft mode between described ankle rotation axis 002 top and shank rod member 001 and be provided with ankle joint radially return spring 016 so that there is during walking before and after the protection of Wearable ankle and foot power assisting device corresponding degree of freedom and time power function；Stretch into the installation station of ankle joint base after one the ankle joint axle spring 003 of overcoat of described ankle joint rotating shaft bottom and use ankle rotation axis link pin 014 to fix so that the protection of Wearable ankle and foot power assisting device have the degree of freedom buffering gravity accordingly up and down and return power function.
Further, described shank link 001 top and bottom are respectively provided with the structure that is of coupled connections, and are connected for shank link 001 being coupled with human calf (described in be of coupled connections structure bandage can be used to realize).
Further, the wearable structure of described foot includes that wear-resisting antiskid bottom 009, resilient middle layer 008 and upper strata upper construction, described upper strata upper construction include Shoe-upper base heel part 005 and upper of a shoe forefoot part 006.Described wear-resisting antiskid bottom 009 can be made by elastomeric material or the main material containing rubber constituent；Described resilient middle layer 008 can be made by elastomeric material or the main material containing rubber constituent；Described upper strata upper construction can use leather, dry goods or plastic material to make.
Further, described ankle joint base 013 by metab connecting plate 012 stretch into the wearable structure of foot and fixing by the way of be connected with described wearable structure (such as: described ankle joint base 013 by metab connecting plate 012 stretch into the wear-resisting antiskid bottom 009 of the wearable structure of foot and resilient middle layer 008 and fixing by the way of be connected with described wearable structure).
The invention has the beneficial effects as follows: the present invention is by improving existing human body lower limbs ectoskeleton structure; individually designed go out have ankle protection and the wearable device of foot assist function; power structure is increased back at ankle position; make the protection of Wearable ankle and foot power assisting device have corresponding degree of freedom when walking front and back and return power function, have simultaneously and buffer the degree of freedom of gravity accordingly up and down and return power function.The method can be widely used in various " power-assisted ", " helping the disabled ", " healthy rectification " field.
Accompanying drawing explanation
Fig. 1 is that the Wearable ankle that the present invention provides is protected and foot power assisting device decomposition texture schematic diagram.
Fig. 2 is that the Wearable ankle that the present invention provides is protected and the sectional view of foot power assisting device.
Reference in Fig. 1 to Fig. 2: shank link 001, ankle rotation axis 002, ankle joint axle spring 003, pad 004, Shoe-upper base heel part 005, upper of a shoe forefoot part 006, forefoot right pressure sensor installing hole 007, resilient middle layer 008, wear-resisting antiskid bottom 009, forefoot left pressure sensor installing hole 010, heel-pressure sensor mounting hole 011, metab connecting plate 012, ankle joint base 013, ankle rotation axis link pin 014, ankle joint connecting pin 015, ankle joint radially return spring 016.
Detailed description of the invention
The present invention will be further described below in conjunction with the accompanying drawings.
As shown in Figure 1, 2, a kind of Wearable ankle protection and foot power assisting device, including the wearable structure of foot, shank link 001, ankle rotation axis 002 and ankle joint base 013；Described ankle joint base 013 is fixed on the side of foot wearable structure heel region; described ankle rotation axis 002 is installed on the installation station of ankle joint base 012; use ankle joint connecting pin 015 to be connected with rotating shaft mode between described ankle rotation axis 002 top and shank rod member 001 and be provided with ankle joint radially return spring 016 so that there is during walking before and after the protection of Wearable ankle and foot power assisting device corresponding degree of freedom and time power function；Stretch into the installation station of ankle joint base after one the ankle joint axle spring 003 of overcoat of described ankle joint rotating shaft bottom and use ankle rotation axis link pin 014 to fix so that the protection of Wearable ankle and foot power assisting device have the degree of freedom buffering gravity accordingly up and down and return power function.
Further, described shank link 001 top and bottom are respectively provided with the structure that is of coupled connections, and are connected for shank link 001 being coupled with human calf (described in be of coupled connections structure bandage can be used to realize).
Further, the wearable structure of described foot includes that wear-resisting antiskid bottom 009, resilient middle layer 008 and upper strata upper construction, described upper strata upper construction include Shoe-upper base heel part 005 and upper of a shoe forefoot part 006.Described wear-resisting antiskid bottom 009 can be made by elastomeric material or the main material containing rubber constituent；Described resilient middle layer 008 can be made by elastomeric material or the main material containing rubber constituent；Described upper strata upper construction can use leather, dry goods or plastic material to make.
Further, described ankle joint base 013 by metab connecting plate 012 stretch into the wearable structure of foot and fixing by the way of be connected with described wearable structure (such as: described ankle joint base 013 by metab connecting plate 012 stretch into the wear-resisting antiskid bottom 009 of the wearable structure of foot and resilient middle layer 008 and fixing by the way of be connected with described wearable structure).
In addition; in order to coordinate control system; it is easy to control system and gathers data; the Wearable ankle that the present invention provides is protected and foot power assisting device; a pressure transducer installing hole (being forefoot right pressure sensor installing hole 007 respectively, forefoot left pressure sensor installing hole 010 and heel-pressure sensor mounting hole 011) it is respectively arranged with in the middle part of forefoot right part, forefoot left part and the heel of described resilient middle layer (008).
The present invention is by improving existing human body lower limbs ectoskeleton structure; individually designed go out have ankle protection and the wearable device of foot assist function; power structure is increased back at ankle position; make the protection of Wearable ankle and foot power assisting device have corresponding degree of freedom when walking front and back and return power function, have simultaneously and buffer the degree of freedom of gravity accordingly up and down and return power function.The method can be widely used in various " power-assisted ", " helping the disabled ", " healthy rectification " field.
Claims (8)
1. the protection of Wearable ankle and a foot power assisting device, including the wearable structure of foot, shank link (001), ankle rotation axis (002) and ankle joint base (013)；Described ankle joint base (013) is fixed on the side of foot wearable structure heel region; described ankle rotation axis (002) is installed on the installation station of ankle joint base (012); use ankle joint connecting pin (015) to be connected with rotating shaft mode between described ankle rotation axis (002) top with shank rod member (001) and be provided with ankle joint radially return spring (016) so that there is during walking before and after the protection of Wearable ankle and foot power assisting device corresponding degree of freedom and return power function；Stretch into the installation station of ankle joint base after one the ankle joint axle spring (003) of overcoat of described ankle joint rotating shaft bottom and use ankle rotation axis link pin (014) to fix so that the protection of Wearable ankle and foot power assisting device have the degree of freedom buffering gravity accordingly up and down and return power function.
Wearable ankle the most according to claim 1 protection and foot power assisting device; it is characterized in that: described shank link (001) top and bottom are respectively provided with the structure that is of coupled connections, be connected for shank link (001) is coupled with human calf.
Wearable ankle the most according to claim 2 protection and foot power assisting device, it is characterised in that the structure that is of coupled connections described in: is bandage.
Wearable ankle the most according to claim 1 protection and foot power assisting device; it is characterized in that: the wearable structure of described foot includes wear-resisting antiskid bottom (009), resilient middle layer (008) and upper strata upper construction, described upper strata upper construction includes Shoe-upper base heel part (005) and upper of a shoe forefoot part (006).
Wearable ankle the most according to claim 4 protection and foot power assisting device, it is characterised in that: it is respectively arranged with a pressure transducer installing hole in the middle part of the forefoot right part of described resilient middle layer (008), forefoot left part and heel.
Wearable ankle the most according to claim 4 protection and foot power assisting device, it is characterised in that: described wear-resisting antiskid bottom (009) is made by elastomeric material or the main material containing rubber constituent；Described resilient middle layer (008) is made by elastomeric material or the main material containing rubber constituent；Described upper strata upper construction uses leather, dry goods or plastic material to make.
Wearable ankle the most according to claim 1 protection and foot power assisting device, it is characterised in that: described ankle joint base (013) by metab connecting plate (012) stretch into the wearable structure of foot and fixing by the way of be connected with described wearable structure.
Wearable ankle the most according to claim 4 protection and foot power assisting device, it is characterised in that: described ankle joint base (013) is connected with described wearable structure by the way of being stretched into the wear-resisting antiskid bottom (009) of the wearable structure of foot and resilient middle layer (008) by metab connecting plate (012) and fixed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610347204.1A CN105816298A (en) | 2016-05-23 | 2016-05-23 | Wearable ankle protection and foot power assisting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610347204.1A CN105816298A (en) | 2016-05-23 | 2016-05-23 | Wearable ankle protection and foot power assisting device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105816298A true CN105816298A (en) | 2016-08-03 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610347204.1A Pending CN105816298A (en) | 2016-05-23 | 2016-05-23 | Wearable ankle protection and foot power assisting device |
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| Country | Link |
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| CN (1) | CN105816298A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106176149A (en) * | 2016-09-08 | 2016-12-07 | 电子科技大学 | A kind of ectoskeleton gait analysis system based on multi-sensor fusion and method |
| CN106821684A (en) * | 2017-03-27 | 2017-06-13 | 东南大学 | A kind of passive energy storage ankle-joint and foot mechanism for lower limb assistance exoskeleton |
| CN108186287A (en) * | 2018-02-01 | 2018-06-22 | 东南大学 | Multiple degrees of freedom energy storage foot mechanism |
| CN109223456A (en) * | 2018-10-23 | 2019-01-18 | 哈尔滨工业大学 | A kind of lower limb exoskeleton robot system based on the interaction of man-machine end |
| CN109483522A (en) * | 2019-01-07 | 2019-03-19 | 河北工业大学 | A kind of foot device of auxiliary weight bearing lower limb exoskeleton |
| JP2019088760A (en) * | 2017-11-13 | 2019-06-13 | フリー バイオニクス タイワン インコーポレイテッドＦｒｅｅ Ｂｉｏｎｉｃｓ Ｔａｉｗａｎ Ｉｎｃ． | Shoe assembly for walking assist device |
| CN111821084A (en) * | 2019-04-19 | 2020-10-27 | 厦门再奔医疗科技有限公司 | Load-free controllable lower limb rehabilitation device |
| JPWO2021084628A1 (en) * | 2019-10-29 | 2021-05-06 |
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| CN103860357A (en) * | 2014-02-25 | 2014-06-18 | 北京航空航天大学 | Foot device with ankle joint parameter measurement suitable for exoskeleton auxiliary supporting robot |
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