CN201510472U - Wearable lower extremity exoskeleton device - Google Patents
Wearable lower extremity exoskeleton device Download PDFInfo
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- CN201510472U CN201510472U CN2009201097456U CN200920109745U CN201510472U CN 201510472 U CN201510472 U CN 201510472U CN 2009201097456 U CN2009201097456 U CN 2009201097456U CN 200920109745 U CN200920109745 U CN 200920109745U CN 201510472 U CN201510472 U CN 201510472U
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 45
- 210000001624 hip Anatomy 0.000 claims abstract description 41
- 210000000629 knee joint Anatomy 0.000 claims abstract description 29
- 230000007246 mechanism Effects 0.000 claims abstract description 25
- 230000033001 locomotion Effects 0.000 claims abstract description 22
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 15
- 210000002414 leg Anatomy 0.000 claims abstract description 9
- 210000004394 hip joint Anatomy 0.000 claims abstract description 8
- 210000003423 ankle Anatomy 0.000 claims description 18
- 210000001503 joint Anatomy 0.000 claims description 15
- 239000004744 fabric Substances 0.000 claims description 5
- 238000005452 bending Methods 0.000 claims description 4
- 238000001514 detection method Methods 0.000 abstract description 8
- 101000911772 Homo sapiens Hsc70-interacting protein Proteins 0.000 abstract description 3
- 230000006735 deficit Effects 0.000 abstract 1
- 230000007774 longterm Effects 0.000 abstract 1
- 238000009434 installation Methods 0.000 description 8
- 210000002683 foot Anatomy 0.000 description 5
- 230000005021 gait Effects 0.000 description 3
- 244000309466 calf Species 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 210000000689 upper leg Anatomy 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000003127 knee Anatomy 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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Abstract
本实用新型公开了一种穿戴式下肢外骨骼装置，包括腰部支撑架和载物架、可调整髋部机构、连杆可调膝关节机构、连杆可调踝关节机构、压力检测鞋、腿部连杆、约束部件及各连接件；双下肢共十二个转动自由度，单下肢各六个自由度，分别为髋部二个自由度，完成髋关节屈伸和收展运动，两关节轴线通过髋部机构调整始终汇交人体髋关节中心，膝部关节一个自由度，与人体膝关节同轴线，对应人体膝关节的屈伸运动；踝关节三个自由度。该装置步行期间髋部关节运动与人体运动一致性好，人机膝关节同轴性和位置偏差小，脚踝关节结构紧凑。本实用新型可用于增强穿戴者步行负重和长时间行走的能力，检测穿戴者步行信息，也可用于帮助下肢运动轻度障碍者正常行走，并逐步康复。
The utility model discloses a wearable lower extremity exoskeleton device, which comprises a waist support frame and a loading frame, an adjustable hip mechanism, a connecting rod adjustable knee joint mechanism, a connecting rod adjustable ankle joint mechanism, pressure detection shoes, and a leg Internal connecting rods, restraint parts and various connecting parts; a total of twelve degrees of freedom of rotation for both lower limbs, six degrees of freedom for each of the single lower limbs, and two degrees of freedom for the hip respectively, to complete the flexion, extension and extension of the hip joint. Through the adjustment of the hip mechanism, it always meets the center of the human hip joint, and the knee joint has one degree of freedom, which is coaxial with the human knee joint, corresponding to the flexion and extension of the human knee joint; the ankle joint has three degrees of freedom. The movement of the hip joint of the device has good consistency with that of the human body during walking, the coaxiality and position deviation of the man-machine knee joint is small, and the ankle joint has a compact structure. The utility model can be used to enhance the wearer's ability to walk with load and long-term walking, detect the wearer's walking information, and can also be used to help people with mild impairment of lower limb movement to walk normally and recover gradually.
Description
Technical field
This utility model relates to a kind of wearable lower limb exoskeleton mechanism arrangement, relates in particular to a kind of exoskeleton robot device that can be used for detection of human body lower limbs movable information and lower extremity movement power-assisted.
Background technology
At present, lower limb exoskeleton is mainly used in the rehabilitation training of human body lower limbs, generally is the fixed form of matrix.Wearable lower limb exoskeleton can be worn on human body and be synchronized with the movement with the people, in dynamic walking is moved, follow the human body movable information or driving moment initiatively is provided, to help wearer to finish the walking of bigger heavy burden and long period, alleviate the fatigue of wearer.Application number is that 200410053695.6 utility model and application number are that 200420081797.4 utility model has designed a kind of pair of lower limb mechanism of totally 8 degree of freedom, this ectoskeletal typical feature is to finish the sagittal plane motion of wearer correspondence by hip four-bar mechanism, knee four-bar mechanism, ankle four-bar mechanism, uses four-bar mechanism can well use Linear actuator to finish bigger heavy burden.In addition, it has increased medial rotation at hip and has revolved extrinsic articulation.The configuration mode of single lower limb 4DOF cloth position is with respect to human body list lower limb 7 degree of freedom of simplifying, and its number of degrees of freedom, is less relatively.Application number is that 200680006514.1 utility model has disclosed a kind of design concept that is configured to be coupled to the lower limb exoskeleton of human body bottom.This design provides the power-assisted of active functions based on man-machine coupling and energy element device, to be coupled as design key, does not require the strict corresponding of man-machine joint, does not have the function that detects the wearer actual motion.
The utility model content
The purpose of this utility model is, by a kind of wearable lower limb exoskeleton mechanism arrangement is provided, make ectoskeleton can have the dual-use function of information detection more accurately and power-assisted, can be harmonious with human motion preferably, guarantee in the dynamic walking movement, the correspondence and the concordance of man-machine each joint of the lower extremity motion, and can easily be used to detect movable information, assist function is provided.
This utility model wearable lower limb exoskeleton mechanism arrangement is to adopt following technological means to realize:
A kind of wearable lower limb exoskeleton device, its mechanical part comprises: lumbar support frame and luggage carrier, can adjust hip mechanism, the adjustable knee-joint mechanism of connecting rod, connecting rod is adjustable ankle joint mechanism, pressure detecting footwear, leg link, constraint component and each connector; Two lower limb are totally ten two rotational freedoms, single each six-freedom degree of lower limb, be respectively two degree of freedom of hip, finish the hip joint motion of bending and stretching and take down the exhibits, two joints axes are by hip institutional adjustment junction human hip center all the time, and the hip joint of taking down the exhibits is positioned at the body rear side, joints axes is along the sagittal axis direction, hip bends and stretches the joint and is positioned at external side, and joints axes is along the frontal axis direction, and both orthogonal axes are vertical; Knee joint one degree of freedom, with the human body knee joint coaxial line, the flexion and extension of corresponding human body knee joint; The ankle joint three degree of freedom, joints axes is bent and stretched along frontal axis in cloth position, the outside, and is coaxial with human body ankle joint, and take down the exhibits joint and rotary joint be along sagittal axis and vertical axis, three's joints axes pairwise orthogonal.
Aforesaid lumbar support frame is fixed on trunk by waistcoat, bandage.
Aforesaid luggage carrier, hip mechanism are installed on lumbar support frame back.
The joint of taking down the exhibits of aforesaid hip mechanism is positioned at the body rear side, and its axis bends and stretches the joint along sagittal axis direction, hip and is positioned at external side, and the coxa joint motion is consistent with human motion, and its axis is along the frontal axis direction, both orthogonal vertical.
The large and small lower limb of aforesaid leg link is divided into upper and lower connecting rod, has scalable that chute is installed on each connecting rod, can adjust connecting portion and realize different leg length, guarantees to install man-machine knee joint alignment; Described connecting rod is pressed close to shank.
Aforesaid constriction is positioned at the upper and lower side of knee joint, near the knee joint position.
The outside in aforesaid ankle joint is a three degree of freedom, and the described joints axes of bending and stretching is along frontal axis direction and human body ankle flexion and extension coaxial line, and take down the exhibits joint and rotary joint be along sagittal axis and vertical axis, the joints axes pairwise orthogonal of three degree of freedom.
Aforesaid pressure detecting footwear are connected with ankle portion by connector, and detecting footwear and instep has the bondage constraint, and the pressure sensor portion of detecting footwear is positioned at sole, and detecting footwear is flexible sole.
Wearable lower limb exoskeleton device of the present utility model can be installed drive motors and encoder, finish the detection that the corresponding movable information of four main power-assists that move of degree of freedom and six joint motions is bent and stretched in two degree of freedom of hip, knee joint one degree of freedom and ankle joint, can detect the pressure information of sole corresponding position by the pressure transducer of sole.
This utility model compared with prior art has following remarkable advantages and beneficial effect:
A kind of wearable lower limb exoskeleton device of this utility model, its mechanism configuration is made of 12 rotary freedoms, each six degree of freedom of single lower limb, and configuration is realized by above-mentioned mechanical part, can guarantee in the normal dynamic gait processes two joint motions of hip and human hip motion high conformity; The nearly knee joint constraint of cloth position configuration by hip and thigh and calf has guaranteed that man-machine knee joint alignment and position deviation are little; Ankle articulation structure compactness.This utility model wearable lower limb exoskeleton device is installed to drive and can be helped wearer to alleviate walking fatigue, strengthens the ability of wearer walking heavy burden and long-time walking.But encoder and pressure detecting device acquisition and recording wearer walking information are installed, for the gait motion analysis provides accurate data.In addition, the reproduction of treated walking information, ectoskeleton can also help the slight obstacle person of lower extremity movement normally to walk, and progressively realizes rehabilitation.
Description of drawings
Fig. 1 is the wearable lower limb exoskeleton device structural representation;
Fig. 2 is a wearable lower limb exoskeleton device waist structure zoomed-in view;
Fig. 3 is a wearable lower limb exoskeleton device ankle part structure zoomed-in view;
Fig. 4 is a wearable lower limb exoskeleton device plane three-view diagram.
Screw is 2. installed in the 1. hips joint of taking down the exhibits among the figure, and 3. hip bends and stretches the joint, 4. installation screw, 5,6,10,11. connecting rods, 7,9. bandage constraint, 8. knee joint, 12. ankle part joint, 13. the pressure detecting footwear, 14. luggage carriers, 15. lumbar support framves, 16,17,18,19. hip connectors, 20. leg strap connects pedestal, 21. knee joint connectors, 22. ankle connectors, 23. foot's bandage, 24. the luggage carrier mounting groove, 25. lumbar support link slots, 26. ankles bend and stretch the joint, the joint 27. ankle is taken down the exhibits, 28. ankle rotary joints.
The specific embodiment
Below in conjunction with the description of drawings specific embodiment of the present utility model.
See also shown in Figure 1, a kind of lower extremity movement information of this utility model design detects and power-assisted ESD (hereinafter to be referred as ectoskeleton), it comprises lumbar support frame 15, and luggage carrier 14 bends and stretches the ectoskeleton hip mechanism that forms in joint 3 by take down the exhibits joint 1 and hip of hip, big leg connecting rod 5,6, knee joint 8, shank connecting rod 10,11, shank constraint bandage 7,9, ankle joint 12, pressure detecting footwear and each several part connector are formed.As shown in Figure 2, described waist mechanism is a basic part with lumbar support frame 15, fixes with braces, waistcoat and trunk.Luggage carrier 14 is installed on the lumbar support frame 15 by luggage carrier mounting groove 24 and lumbar support link slot 25, is positioned at the wearer dorsal part.Hip connector 16 is installed on the lumbar support frame 15, and the installation site that can regulate connector 16 in lumbar support frame link slot 25 to be to adapt to different wearers, guarantees waist take down the exhibits joint 1 and human hip coaxial line.Hip connector 18 tops are installed on the hip connector 16 by screw 2 is installed, and the bottom links by hip connector 19 and connecting rod 5, constitute hip and bend and stretch joint 3.Connecting rod 6 and connecting rod 10 are linked by connector 21, constitute knee joint.Ankle part joint 12 has ankle to bend and stretch joint 26, ankle take down the exhibits joint 27, ankle rotary joint 28 (referring to Fig. 3), and the three is mutually orthogonal.The pressure detecting footwear are connected with the ankle joint.
On the connecting rod 5,6,10,11 the installation chute is arranged all, can regulate the connecting rod link position, adapt to different height wearers.Regulate the installation site of connecting rod 5 and connecting rod 6, guarantee knee joint 8 and human body knee joint coaxial line.Regulate the installation site of connecting rod 10 and connecting rod 11, guarantee to bend and stretch joint 26 and human body ankle joint flexion and extension coaxial line.Bandage constraint 7,9 is installed on the connecting rod 6,10 of thigh and calf.
Three-view diagram after the ESD assembling as shown in Figure 4.
The hip joint 1 of taking down the exhibits, hip bends and stretches joint 3, knee joint 8, ankle bends and stretches that joint 26 can be selected or all drive the equal installation and measuring element of 12 degree of freedom.
This utility model is applicable to the object that needs to assist walking and heavy burden, also can help the slight obstacle person of lower extremity movement to realize rehabilitation.In the enforcement, wearer is by waist, and the constraint of shank and foot connects with ESD, regulates the installation site of each several part connecting rod, so that ectoskeleton adapts to wearer, guarantees that initial installation site, joint is accurate.At information detection functions, during the walking, be installed in detection means and foot force detection means record experimenter movable information on each degree of freedom, with host computer on-line analytical processing experimenter's gait.At assist function, drive the joint motor input torque and provide power-assisted for wearer.
This utility model ectoskeleton is not addressed part and is applicable to prior art.
Claims (8)
1. wearable lower limb exoskeleton device, its mechanical part comprises: lumbar support frame and luggage carrier, can adjust hip mechanism, the adjustable knee-joint mechanism of connecting rod, connecting rod is adjustable ankle joint mechanism, pressure detecting footwear, leg link, constraint component and each connector; It is characterized in that: two lower limb are totally ten two rotational freedoms, single each six-freedom degree of lower limb, be respectively two degree of freedom of hip, finish the hip joint motion of bending and stretching and take down the exhibits, two joints axes are by hip institutional adjustment junction human hip center all the time, and the hip joint of taking down the exhibits is positioned at the body rear side, joints axes is along the sagittal axis direction, hip bends and stretches the joint and is positioned at external side, and joints axes is along the frontal axis direction, and both orthogonal axes are vertical; Knee joint one degree of freedom, with the human body knee joint coaxial line, the flexion and extension of corresponding human body knee joint; Ankle joint three degree of freedom, joints axes is bent and stretched along frontal axis in cloth position, the outside, and is coaxial with human body ankle joint, and take down the exhibits joint and rotary joint be along sagittal axis and vertical axis, three's joints axes pairwise orthogonal.
2. wearable lower limb exoskeleton device according to claim 1 is characterized in that: described lumbar support frame is fixed on trunk by waistcoat, bandage.
3. wearable lower limb exoskeleton device according to claim 1 is characterized in that: described luggage carrier, hip mechanism are installed on lumbar support frame back.
4. according to claim 1 or 3 described wearable lower limb exoskeleton devices, it is characterized in that: the joint of taking down the exhibits of described hip mechanism is positioned at the body rear side, and its axis is along the sagittal axis direction; Hip bends and stretches the joint and is positioned at external side, and coxa joint motion is consistent with human motion, and its axis is along the frontal axis direction, both orthogonal vertical.
5. wearable lower limb exoskeleton device according to claim 1, it is characterized in that: the large and small lower limb of described leg link is divided into upper and lower connecting rod, there is scalable that chute is installed on each connecting rod, can adjusts connecting portion and realize different leg length, guarantee to install man-machine knee joint alignment; Described connecting rod is pressed close to shank.
6. wearable lower limb exoskeleton device according to claim 1 is characterized in that: described constriction is positioned at the upper and lower side of knee joint, near the knee joint position.
7. wearable lower limb exoskeleton device according to claim 1, it is characterized in that: the outside in described ankle joint is a three degree of freedom, the described joints axes of bending and stretching is along frontal axis direction and human body ankle flexion and extension coaxial line, take down the exhibits joint and rotary joint along sagittal axis and vertical axis, the joints axes pairwise orthogonal of three degree of freedom.
8. wearable lower limb exoskeleton device according to claim 1, it is characterized in that: described pressure detecting footwear, be connected with ankle portion by connector, detecting footwear and instep has the bondage constraint, the pressure sensor cloth that detects footwear is positioned at sole, and detecting footwear is flexible sole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009201097456U CN201510472U (en) | 2009-06-26 | 2009-06-26 | Wearable lower extremity exoskeleton device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009201097456U CN201510472U (en) | 2009-06-26 | 2009-06-26 | Wearable lower extremity exoskeleton device |
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| CN201510472U true CN201510472U (en) | 2010-06-23 |
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| CN2009201097456U Expired - Fee Related CN201510472U (en) | 2009-06-26 | 2009-06-26 | Wearable lower extremity exoskeleton device |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102613975A (en) * | 2012-04-01 | 2012-08-01 | 北京工业大学 | Wearable exoskeleton mechanism for detecting movement information of hip joints of human lower limbs |
| CN103054692A (en) * | 2013-01-29 | 2013-04-24 | 苏州大学 | Wearable lower limb exoskeleton walking-assisted robot |
| CN103126851A (en) * | 2013-02-27 | 2013-06-05 | 上海大学 | Gait training mechanical leg |
| CN103190912A (en) * | 2012-01-09 | 2013-07-10 | 上海理工大学 | Knee joint movement parameter testing device |
| CN103315834A (en) * | 2013-06-27 | 2013-09-25 | 北京交通大学 | Wearable lower-limb assistance exoskeleton |
| CN104434124A (en) * | 2014-12-04 | 2015-03-25 | 电子科技大学 | Human lower limb gait data acquisition system |
| CN104440884A (en) * | 2014-12-04 | 2015-03-25 | 电子科技大学 | Hip-length-adjustable laborsaving device for human lower-limb exoskeleton robot |
| CN105479437A (en) * | 2015-12-28 | 2016-04-13 | 中国人民解放军理工大学 | Three-degree-of-freedom lower limb assistance exoskeleton ankle |
| CN105904439A (en) * | 2016-05-19 | 2016-08-31 | 成都奥特为科技有限公司 | Gait-sensing flexible foot device with rigidity self-adjusting function |
| CN105997421A (en) * | 2016-04-25 | 2016-10-12 | 合肥工业大学 | Rehabilitation and fitness training device with multiple freedom degrees |
| CN106580637A (en) * | 2016-12-21 | 2017-04-26 | 无锡太湖学院 | Exoskeleton robot |
| CN104869970B (en) * | 2012-12-11 | 2017-09-29 | 埃克苏仿生公司 | Reconfigurable ectoskeleton |
| CN107259661A (en) * | 2017-07-16 | 2017-10-20 | 北京工业大学 | A kind of flexible power-assisted coat of wearable lower limb |
| CN111683794A (en) * | 2017-12-28 | 2020-09-18 | 赛峰电子与防务公司 | exoskeleton structure |
| CN111805511A (en) * | 2020-05-25 | 2020-10-23 | 浙江大学 | A lower extremity exoskeleton system with active adjustable leg rod length and its control method |
| CN111823218A (en) * | 2020-08-03 | 2020-10-27 | 大连理工大学 | A variable stiffness knee exoskeleton robot based on shape memory alloy |
-
2009
- 2009-06-26 CN CN2009201097456U patent/CN201510472U/en not_active Expired - Fee Related
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103190912A (en) * | 2012-01-09 | 2013-07-10 | 上海理工大学 | Knee joint movement parameter testing device |
| CN102613975A (en) * | 2012-04-01 | 2012-08-01 | 北京工业大学 | Wearable exoskeleton mechanism for detecting movement information of hip joints of human lower limbs |
| CN104869970B (en) * | 2012-12-11 | 2017-09-29 | 埃克苏仿生公司 | Reconfigurable ectoskeleton |
| US10327975B2 (en) | 2012-12-11 | 2019-06-25 | Ekso Bionics, Inc. | Reconfigurable exoskeleton |
| CN103054692A (en) * | 2013-01-29 | 2013-04-24 | 苏州大学 | Wearable lower limb exoskeleton walking-assisted robot |
| CN103126851A (en) * | 2013-02-27 | 2013-06-05 | 上海大学 | Gait training mechanical leg |
| CN103315834A (en) * | 2013-06-27 | 2013-09-25 | 北京交通大学 | Wearable lower-limb assistance exoskeleton |
| CN103315834B (en) * | 2013-06-27 | 2015-04-22 | 北京交通大学 | Wearable lower-limb assistance exoskeleton |
| CN104434124A (en) * | 2014-12-04 | 2015-03-25 | 电子科技大学 | Human lower limb gait data acquisition system |
| CN104440884B (en) * | 2014-12-04 | 2015-10-28 | 电子科技大学 | A kind of hip adjustable length for human body lower limbs exoskeleton robot and work-saving device |
| CN104440884A (en) * | 2014-12-04 | 2015-03-25 | 电子科技大学 | Hip-length-adjustable laborsaving device for human lower-limb exoskeleton robot |
| CN105479437A (en) * | 2015-12-28 | 2016-04-13 | 中国人民解放军理工大学 | Three-degree-of-freedom lower limb assistance exoskeleton ankle |
| CN105997421A (en) * | 2016-04-25 | 2016-10-12 | 合肥工业大学 | Rehabilitation and fitness training device with multiple freedom degrees |
| CN105904439A (en) * | 2016-05-19 | 2016-08-31 | 成都奥特为科技有限公司 | Gait-sensing flexible foot device with rigidity self-adjusting function |
| CN106580637A (en) * | 2016-12-21 | 2017-04-26 | 无锡太湖学院 | Exoskeleton robot |
| CN107259661A (en) * | 2017-07-16 | 2017-10-20 | 北京工业大学 | A kind of flexible power-assisted coat of wearable lower limb |
| CN111683794A (en) * | 2017-12-28 | 2020-09-18 | 赛峰电子与防务公司 | exoskeleton structure |
| CN111683794B (en) * | 2017-12-28 | 2021-07-23 | 赛峰电子与防务公司 | exoskeleton structure |
| CN111805511A (en) * | 2020-05-25 | 2020-10-23 | 浙江大学 | A lower extremity exoskeleton system with active adjustable leg rod length and its control method |
| CN111823218A (en) * | 2020-08-03 | 2020-10-27 | 大连理工大学 | A variable stiffness knee exoskeleton robot based on shape memory alloy |
| CN111823218B (en) * | 2020-08-03 | 2022-01-14 | 大连理工大学 | Variable-rigidity knee joint exoskeleton robot based on shape memory alloy |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100623 Termination date: 20110626 |