CN109223451B

CN109223451B - Lower limb assistance exoskeleton robot bearing shoe

Info

Publication number: CN109223451B
Application number: CN201811125620.2A
Authority: CN
Inventors: 何程函; 刘旭亮; 朱晓荣; 于志远; 刘宏伟
Original assignee: China Academy of Launch Vehicle Technology CALT; Beijing Research Institute of Precise Mechatronic Controls
Current assignee: China Academy of Launch Vehicle Technology CALT; Beijing Research Institute of Precise Mechatronic Controls
Priority date: 2018-09-26
Filing date: 2018-09-26
Publication date: 2021-03-26
Anticipated expiration: 2038-09-26
Also published as: CN109223451A

Abstract

A lower-limb power-assisted exoskeleton robot bearing shoe, comprising a heel structure (1), a toe structure (4), a sole, and a bow projectile structure; the heel structure (1) and the toe structure (4) are respectively mounted on the sole, and when When the foot steps on the sole, the heel structure (1) and the toe structure (4) are respectively located on the outside of the foot; one end of the bow projectile structure is fixedly connected with the heel structure (1), and the other end is hinged with the toe structure (4) , the exoskeleton and the weight-bearing force due to the change of the center of gravity during walking are transmitted through the bow projectile structure.

Description

Lower limb assistance exoskeleton robot bearing shoe

Technical Field

The invention belongs to the field of shoe manufacturing, and particularly relates to a shoe body for realizing movement bearing of an exoskeleton robot.

Background

The exoskeleton robot is worn or bound on a human body, acts between the human body and a load, helps the human to bear the load to carry with the human according to the intention of the human. Thereby improving the loading capacity or the movement capacity of the human body.

In the case of exoskeleton structures, the main function is to replace the human body bearing load, and gravity is transmitted downwards along the back frame, the hip structure and the lower limb structure in sequence and finally transmitted to the ground through the shoe body. Therefore, the shoe body is a loaded end link in the whole exoskeleton structure and is directly contacted with the ground. The gravity of the exoskeleton and the load is finally concentrated on the shoe body, and the shoe body is one of the important parts for bearing and transmitting the gravity of the exoskeleton and the load. Meanwhile, in order to realize the consistent movement of human and machine, the shoe body needs to be tightly bound with the foot of a person, and certain flexibility, freedom degree and rigidity are required between the front sole and the rear sole. The flexibility and the degree of freedom are matched with the degree of freedom of the motion of the sole of the human body, and the exoskeleton shoe body does not interfere with the human body when moving. The rigidity is to bear the weight of the exoskeleton and the load.

In the current research on the mechanical structure of the exoskeleton bearing shoes, the exoskeleton bearing shoes are mainly designed into the structure of the bearing shoes when the exoskeleton stands still, and in the cooperative motion process of the exoskeleton and people, the force transmission of the bearing shoes is changed from heels to soles alternately. If force transmission during movement is not considered, the exoskeleton and the human body can hardly move cooperatively.

Currently, most of the study on exoskeleton shoes is load-bearing shoes. The main function is to transmit the vertical load of the exoskeleton downwards through the back frame, the hip structure and the lower limb bearing structure in sequence, and finally the load is carried by the shoe body and transmitted to the ground. The bearing effect of the research is mostly the effect of a static standing state, and the exoskeleton heel structural member bears the force transmission mode. During movement, the gravity centers of the exoskeleton and the load can be changed back and forth, and the gravity borne by the shoe body can also be changed alternately between the front sole and the rear sole. That is, in the process of exoskeleton movement, the sole of the foot needs to bear and transfer force in addition to the heel. If the sole bearing force transmission structure part is not arranged, the exoskeleton gravity, the load bearing gravity and the human self gravity are transmitted to the ground through the metatarsus and the phalanx of the human body under certain gaits, so that the walking gaits are distorted, the human body is easy to damage, and finally the bearing capacity and the cooperative motion effect of the exoskeleton are influenced.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: the invention provides a pair of lower limb assistance exoskeleton robot bearing shoes in view of the defects of the existing design.

The technical solution of the invention is as follows: a lower limb assistance exoskeleton robot bearing shoe comprises a heel structure, a toe structure, a sole and an arch projectile body structure; the heel structure and the toe structure are respectively arranged on the sole, and when a foot steps on the sole, the heel structure and the toe structure are respectively positioned on the outer side of the foot; one end of the bow and bullet body structure is fixedly connected with the heel structure, the other end of the bow and bullet body structure is hinged with the toe structure, and the gravity generated by the exoskeleton and the load in the walking process due to the gravity center change is transmitted through the bow and bullet body structure.

Furthermore, the sole is of at least three-layer structure, the heel pedal and the palm pedal main body are respectively positioned at the heel and the sole of the sole as middle layers, and two support lugs respectively extend out of two sides of the sole of the heel pedal and the palm pedal; the uppermost layer of the sole is provided with a pressure sensor, and the uppermost layer is made of a foaming elastic material.

Furthermore, the heel pedal and the foot sole pedal are made of materials with Shore hardness of at least 80A.

Furthermore, the distribution positions of the pressure sensors at least comprise positions of a heel, a sole inner side, a sole outer side and at least one toe.

Furthermore, the bottom layer of the sole is made of elastic wear-resistant materials.

Further, the bow and bullet structure comprises an elastic sheet and a metatarsal structure; one end of the elastic sheet is fixedly connected with the heel structure, the other end of the elastic sheet is fixedly connected with one end of the metatarsal structure, the other end of the metatarsal structure is connected with the toe structure through a pin shaft, and the axis of the pin shaft is parallel to the cross section of the human body and is perpendicular to the deformed surface of the human body.

Further, the angle between the bow and bullet structure and the plane of the sole is 15-45 degrees.

Furthermore, the elastic sheet has a certain deformation amount and bears 0-90kg of pressure.

Furthermore, the upper end surface A of the heel structure is annular, a hollow structure interface is arranged in the heel structure, and the heel structure is used for being connected with an ankle joint of the exoskeleton; the lower end face B is connected with the sole, the end face facing the toe cap direction is an end face C, the end face D and the end face C are intersected at a certain angle, the angle range is 105 degrees and 135 degrees, and the end face D is perpendicular to the deformed face of the human body; the end face D is used for connecting the bow projectile body structure; an arc surface is arranged between the end surface B and the end surface C, the structure of the bow projectile body is a tangent line of the arc surface, and an intersection line of a plane which passes through the axis of the upper ankle joint of the end surface A and is parallel to the human coronal plane and the end surface B is the initial position of the arc surface.

Furthermore, the rear end of the heel structure is designed to imitate the bone shape of the rear part of tarsal bones of a human body.

Compared with the prior art, the invention has the beneficial effects that:

the exoskeleton bearing shoe structure is designed by referring to the structural form and the action of the foot skeleton of a human body, when the exoskeleton is static and stands, the gravity of the exoskeleton and a load is transmitted to the heel structure through the ankle joint structure of the exoskeleton, the whole gravity center is positioned at the center of a circle of an end face A of the heel structure and is vertical to the axis of a face B, namely the axis of a vertical shaft of the ankle joint, and the 1/2 gravity is transmitted to the ground through the end face B and the root of a sole. The vertical axis of the arch projectile body structure, the toe structure, the sole and the ankle joint forms a triangle, the gravity transmission of 1/2 is born, and the standing stability of the exoskeleton is enhanced; when the exoskeleton and the load gravity center change towards the back direction of the human body, the downward gravity is mainly supported by the end surface B and the root part of the sole and is transmitted to the ground; when the exoskeleton and the load center of gravity change towards the chest direction of a human body, the downward gravity is mainly borne by a triangle formed by the vertical axis of the bow elastic body structure, the toe structure, the sole and the ankle joint until the heel is off the ground. When the heel is lifted off the ground and the toe touches the ground, because the elastic sheet can generate a certain amount of bending deformation, the sole material also adopts an elastic material, at the moment, when the gravity is transmitted, a certain amount of deformation can be generated, the triangle formed at the moment deforms, and the main gravity can be transmitted to the sole of the foot along the bow elastic body structure and then is transmitted to the ground through the sole. In the walking process, when the gravity center of the exoskeleton and the load is changed to the other leg, the gravity borne by the bow and elastic body structure is reduced, and the elastic potential energy generated by the deformation of the elastic sheet and the sole is released by the foot-rest to give a forward walking force to the exoskeleton and the load. This action simulates the forward movement of the rear toe when the human body is walking. The bow-shaped elastic body plays the roles of bearing force transmission and passive walking assistance in each gait.

In the process of the cooperative motion of the exoskeleton and the human body, the human body motion intention recognition cannot be lacked. So 4 pressure sensors are distributed on the sole to detect the human movement intention. The distribution positions of the pressure sensors at least comprise a heel, a sole inner side, a sole outer side and at least one toe position. The distribution positions are 4 points with the largest treading pressure of the human feet, and the pressure information of the human feet can be collected to the maximum extent. Through the collection and analysis of the pressure information of the sensor, the movement intention of the human body can be intelligently judged, and the purpose of cooperative walking of the exoskeleton and the human body is achieved.

Drawings

FIG. 1 is a schematic structural view of the present invention;

figure 2 is a schematic view of the heel structure of the present invention.

Detailed Description

The invention is described in detail below with reference to the figures and examples.

In the current research on the mechanical structure of the exoskeleton bearing shoes, the exoskeleton bearing shoes are mainly designed into the structure of the bearing shoes when the exoskeleton stands still, and in the cooperative motion process of the exoskeleton and people, the force transmission of the bearing shoes is alternately changed between heels and soles. If force transmission during movement is not considered, the exoskeleton and the human body can hardly move cooperatively. The exoskeleton needs to achieve cooperative motion with a human body, and needs motion perception judgment besides the structural design of fitting. The sensor is embedded in the exoskeleton bearing sole, so that the gait of a human body can be detected, and the exoskeleton can judge the movement intention of the human body by combining the information of the sensor at other parts, so that the aim of man-machine cooperation can be fulfilled.

According to the problems, the requirements of static bearing, force transmission during movement and intelligent detection of human gait are met. The invention designs an exoskeleton bearing shoe structure by referring to the structural form and the action of the foot skeleton of a human body, and the exoskeleton bearing shoe structure is shown as the attached figure 1 and comprises a heel structure 1, an arch and elastic body structure, a toe structure 4 and a sole. The heel structure 1, which simulates the tarsal bone structure of a human foot, is a load-bearing and force-transmitting core component. The upper end face A of the heel structure 1 is circular, a hollow square structure interface is arranged in the heel structure, and the heel structure is used for being connected with an ankle joint vertical shaft of the exoskeleton. The lower end face B is connected with the sole and is used for transmitting the gravity of the exoskeleton and the load to the ground. The end face facing the toe cap direction is an end face C, the end face D and the end face C are intersected at a certain angle, the angle range is 105 degrees and 135 degrees, and the end face D is perpendicular to the deformed face of the human body. The end face D is used for connecting the bow projectile body structure. An arc surface is arranged between the end surface B and the end surface C, the structure of the bow projectile body is a tangent line of the arc surface, and an intersection line of a plane which passes through the axis of the vertical axis of the ankle joint on the end surface A and is parallel to the human coronal plane and the end surface B is the initial position of the arc surface and is used for enhancing the forward force transmission performance during walking.

The bow and bullet body structure comprises an elastic sheet 2 and a metatarsus structure 3, two ends of the bow and bullet body structure are respectively connected with a heel structure 1 and a toe structure 4 to form a shape similar to the human arch, and the bow and bullet body structure is mainly used for bearing force transmission and assisting passive walking. The elastic sheet 2 has a certain deformation amount and bears 0-90kg of pressure. During walking, the exoskeleton and the load gravity are transmitted to the front sole through the bow projectile body and then transmitted to the ground through the front sole. In the process of force transmission, the elastic sheet 2 can be bent and deformed to generate certain elastic potential energy. When the exoskeleton and the gravity center of the load are transferred to the other leg, the elastic potential energy is released due to the reduction of gravity, and the released energy can be just converted into the friction force between the half sole and the ground, so that the gait that the back sole steps on the ground in the walking process is formed. The elastic sheet 2 plays roles of being compressed, storing energy and releasing work in the process, so that the effect of passive walking assistance is achieved.

The bow and bullet body structure is connected with the toe structure 4 through a pin shaft, and the axis of the pin shaft is parallel to the cross section of the human body and is vertical to the deformed surface of the human body. Besides the load-bearing and force-transmission function, the walking stick also needs to keep consistent with the motion angle of the metatarsophalangeal joints of the human body, so that the aim of synchronous walking can be fulfilled.

The sole is of at least three-layer structure, and the main bodies of the heel pedal 5 and the palm pedal 6 are respectively positioned at the heel and the sole part of the sole as middle layers and are used for balancing the coordination between a person and the exoskeleton and the gravity for bearing the exoskeleton and the load, namely, the sole is used as a tail end bearing structure and transmits the force to the ground in a dispersing way. The foot-following pedal 5 and the foot-metacarpophalangeal pedal 6 extend out of two support lugs on two sides of the sole respectively and are used for fixing the binding device, and the binding device binds the feet of a person and the exoskeleton bearing shoes into a whole, so that the exoskeleton and the feet of the person are not separated during movement. The pressure sensor 7 is arranged on the uppermost layer of the sole and is mainly used for collecting human motion information, the sensor can obtain corresponding sensing data according to human motion postures, and the data are collected and analyzed, so that human motion intentions are judged, and the aim of controlling the exoskeleton and the human body to achieve coordinated motion is finally achieved. The load-bearing sole of the embodiment is embedded with 4 pressure sensors, and the distribution positions of the pressure sensors at least comprise a heel, a sole inner side, a sole outer side and at least one toe position. The distribution positions are 4 points with the largest treading pressure of the human body feet, and the pressure information of the human body can be collected to the largest extent. The lowest layer 8 is made of elastic wear-resistant material, has certain toughness, can generate certain deformation, and has the characteristics of wear resistance and the like. The lowermost layer 8, the heel plate 5, the palmar plate 6 and the sensor layer may be integrated by a vulcanization process. The lowest layer 8, the heel pedal 5, the foot sole pedal 6 and the sensor layer can be integrated into a whole in a mode of mold opening and plastic building.

The invention has not been described in detail in part of the common general knowledge of those skilled in the art.

Claims

1. A lower-limb power-assisted exoskeleton robot bearing shoe, characterized in that: comprising a heel structure (1), a toe structure (4), a sole, a bow projectile structure; the heel structure (1), the toe structure (4) are respectively Installed on the sole, when the foot steps on the sole, the heel structure (1) and the toe structure (4) are respectively located on the outside of the foot; one end of the bow projectile structure is fixedly connected with the heel structure (1), and the other end is The toe structure (4) is hinged, and the exoskeleton and the gravity generated by the weight-bearing change during walking are transmitted through the bow projectile structure; the bow projectile structure comprises an elastic sheet (2), a plantar structure (3); the elastic sheet One end of (2) is fixed to the heel structure (1), the other end is fixed to one end of the plantar structure (3), the other end of the plantar structure (3) is connected to the toe structure (4) through a pin, and the axis of the pin is parallel The cross section of the human body and perpendicular to the loss plane of the human body.

2. The load-bearing shoe according to claim 1, characterized in that: the sole is of at least three-layer structure, and the main body of the heel pedal (5) and the palm pedal (6) are respectively located at the heel of the sole as an intermediate layer. and the sole of the foot, two lugs protrude from the heel pedal (5) and the palm pedal (6) on both sides of the sole; a pressure sensor (7) is installed on the uppermost layer of the sole.

3. The bearing shoe according to claim 2, characterized in that: the heel pedal (5) and the palm pedal (6) are selected to have a Shore hardness of at least 80A.

4 . The load bearing shoe according to claim 2 , wherein the distribution positions of the pressure sensors include at least the positions of the heel, the inner side of the sole, the outer side of the sole of the foot and at least one toe. 5 .

5. The bearing shoe according to claim 2, wherein the bottom layer (8) of the sole is made of elastic wear-resistant material.

6 . The bearing shoe according to claim 1 , wherein the angle between the bow projectile structure and the sole plane is 15-45°. 7 .

7 . The bearing shoe according to claim 1 , wherein the elastic sheet ( 2 ) has a certain amount of deformation and can bear a pressure of 0-90 kg. 8 .

8. bearing shoe according to claim 1, is characterized in that: the upper end face A of described heel structure (1) is annular, has hollow structure interface inside, and the function is to be connected with the ankle joint of exoskeleton; The lower end face B is connected to the sole, the end face facing the toe direction is the end face C, the end face D and the end face C intersect at a certain angle, the angle range is 105-135°, and the end face D is perpendicular to the deformed surface of the human body; the end face D is used for connection The bow projectile structure; a circular arc surface is set between the end surface B and the end surface C, and the bow projectile structure is a tangent to the circular arc surface, passing through the axis of the ankle joint on the end surface A and parallel to the coronal plane of the human body and the plane of the end surface B. The intersection line is the starting position of the arc surface.

9 . The bearing shoe according to claim 8 , wherein the rear end of the heel structure ( 1 ) is designed to imitate the skeletal shape of the rear of the human tarsus. 10 .