WO2024011824A1 - Hip joint exoskeleton for transverse walking rehabilitation - Google Patents

Abstract

A hip joint exoskeleton for transverse walking rehabilitation, comprising a waist assembly (100), a swing assembly (200), and a thigh strapping assembly (300). The waist assembly (100) comprises a waist strap (101), a waist base (102), and a waist base shield (103); the waist base (102) is fixedly mounted on the rear of the waist strap (101), and the waist base shield (103) is fixedly mounted on the waist base (102). The swing assembly (200) comprises a left swing assembly (210) and a right swing assembly (220). The left swing assembly (210) and the right swing assembly (220) have the same structure, and are oppositely arranged on the left and right sides of the waist base (102). The thigh strapping assembly (300) comprises a left thigh strapping assembly (310) and a right thigh strapping assembly (320). The left thigh strapping assembly (310) and the right thigh strapping assembly (320) have the same structure, and are respectively connected to the left swing assembly (210) and the right swing assembly (220). The left swing assembly (210) drives the left thigh strapping assembly (310) to swing left and right; the right swing assembly (220) drives the right thigh strapping assembly (320) to swing left and right; the left thigh strapping assembly (310) and the right thigh strapping assembly (320) swing front and back by means of the left swing assembly (210) and the right swing assembly (220), respectively.

Description

A hip exoskeleton for lateral walking rehabilitation Technical field

The present invention relates to a hip exoskeleton for lateral walking rehabilitation.

Background technique

Lower limb dysfunction is the most common sequela in patients with hemiplegia, and lower limb exoskeletons show excellent prospects in the rehabilitation of walking function in such patients. Human walking includes longitudinal walking forward and backward and transverse walking left and right. Longitudinal walking rehabilitation is mainly for daily activities, and transverse walking rehabilitation is mainly for restoring the patient's balance ability. The current lateral rehabilitation of such patients mainly includes two stages: In the first stage, the patient gets out of bed and walks back and forth holding on to the bed railing. At this time, the patient's hip adductor and abductor muscles are weak, and it takes great effort to support the bed slowly. Walking left and right; the second stage is the later stage of rehabilitation, when the patient has basically recovered the function of the lower limbs. At this time, lateral resistance is generally provided on the lower limbs through a circular elastic rope so that the patient can perform lateral walking exercises against resistance.

For the first stage, most of the current lower limb exoskeletons are used for longitudinal walking rehabilitation or assistance, while a few lateral walking assistance exoskeletons also have problems with wearing comfort; for the second stage, the resistance provided by the current ring elastic rope is uncontrollable, and different needs need to be adjusted. The patient determines the level of the elastic rope, which cannot achieve precise rehabilitation.

technical problem

In order to overcome the problems existing in the above-mentioned prior art, the present invention proposes a hip joint exoskeleton for lateral walking rehabilitation, which can adapt to people of different body types and can provide better wearing comfort. In the first stage, it can provide Hip joint lateral movement assistance can accurately control the hip joint lateral movement resistance in the second stage, and can use targeted multi-degree-of-freedom lateral walking rehabilitation training movements for the hip joint.

Technical solutions

The technical solution of the present invention to solve the above problems is: a hip joint exoskeleton used for lateral walking rehabilitation. Its special features are:

Includes waist component, swing component and thigh binding component;

The waist component includes a waist binding, a waist base and a waist base shield; the waist base is fixed on the rear side of the waist binding, and the waist base shield is fixed on the waist base;

The swing assembly includes a left swing assembly and a left swing assembly; the left swing assembly and the left swing assembly have the same structure and are symmetrically arranged on the left and right sides of the waist base;

The thigh binding component includes a left thigh binding component and a right thigh binding component; the left thigh binding component and the right thigh binding component have the same structure and are connected to the left swing component and the left swing component respectively;

The left swing component drives the left thigh binding component to swing left and right; the left swing component drives the right thigh binding component to swing left and right;

The left thigh binding component and the right thigh binding component realize forward and backward swinging through the left swing component and the left swing component respectively.

Further, the above-mentioned left swing assembly includes a left servo motor, a left coupling, a left torque sensor, a connecting assembly and a left thigh support;

The left servo motor is arranged on the left side of the waist base. The left torque sensor is connected to the output end of the left servo motor through the left coupling. The connecting component is connected to the left torque sensor. The left servo motor, left coupling, left torque sensor The sensor and the connecting component together form an active left swing joint. The left servo motor drives the left coupling, the left torque sensor and the connecting component to swing left and right relative to the waist component with the axis of the left servo motor as the rotation axis;

The left thigh bracket is connected with the connecting component, and the left thigh bracket can swing forward and backward and slide left and right relative to the left swing bracket.

Further, the above-mentioned connection assembly includes a left swing sliding shaft and a left linear bearing. One end of the left swing sliding shaft is provided with a connecting flange. The connecting flange is fixed to the left torque sensor. The left linear bearing is slidingly and rotationally connected to the rotating left swing sliding shaft. , the connecting flange of the left thigh bracket is fixed on the left linear bearing; the left swing sliding shaft, the left linear bearing and the left thigh bracket together form a passive left hip free joint.

Further, the above-mentioned connection assembly includes a left swing bracket, a left swing sliding shaft, and a left linear bearing,

The left swing sliding shaft is fixed on the shaft hole of the left swing bracket, the left linear bearing is slidingly and rotationally connected to the rotating left swing sliding shaft, and the connecting flange of the left thigh bracket is fixed on the left linear bearing; the left swing bracket, the left swing slide The shaft, left linear bearing and left thigh brace together form a passive left hip free joint.

Further, the above-mentioned left thigh bracket and the left thigh binding assembly, the left thigh binding assembly can swing back and forth and slide up and down relative to the left thigh bracket.

Further, the above-mentioned left thigh binding assembly includes a left thigh binding, a left thigh rotating shaft, a left thigh pulley axle seat, a left thigh pulley, two left thigh thrust washers and a left thigh pulley shaft;

The left thigh pulley seat is rotatably connected to the left thigh binding through the left thigh rotating shaft, so that the left thigh pulley seat can swing laterally relative to the left thigh binding; the left thigh pulley shaft passes through a left thigh thrust in turn along its own rotation axis The gasket, left thigh pulley, and another left thigh thrust washer are inserted into the upper shaft hole of the left thigh pulley shaft seat and radially locked with matching screws; the left thigh pulley slides in the long slot hole of the left thigh bracket, The left thigh thrust washers on both sides clamp and restrict the left thigh bracket so that the left thigh bracket can rotate and translate relative to each other in the plane defined by the two left thigh thrust washers. The left thigh binding assembly and the left thigh bracket are composed together. A passive left thigh free joint is provided, so that the left thigh binding can swing sideways with the axis of the left thigh rotation relative to the left thigh bracket, swing forward and backward with the axis of the left thigh pulley shaft, and slide up and down, with a total of three degrees of freedom.

Further, the above-mentioned left thigh binding assembly includes a left thigh binding, the left thigh bracket is a telescopic sleeve, and the left thigh binding is connected to the lower end of the left thigh bracket through a rotating shaft. .

Further, the above-mentioned left thigh support includes a first bending part, a second bending part and a connecting plate;

The first bending part and the second bending part both have L-shaped structures; one side of the first bending part is connected to the left linear bearing, and the other side is detachably connected to one side of the second bending part, and the position between the two It can be adjusted relatively, and the other side of the second bending part is fixedly connected to the connecting plate.

Further, the above-mentioned hip exoskeleton also includes an electronic control component. The electronic control component includes a control component and a battery pack. The control component and battery pack are fixedly mounted on the waist base, and the control component and battery pack are located in the waist base shield. ;

The control component is electrically connected to the torque sensors and servo motors on the left and right sides. The control component outputs a feedback signal according to the torque of the torque sensor in the left and right swing direction, and controls the servo motor to drive the swing component and the thigh binding component to swing in the left and right direction. A lateral swing torque feedback control for outputting a swing moment in the left and right direction is formed.

Further, the above-mentioned electronic control assembly also includes two inertia measurement sensors. The two inertia measurement sensors are respectively provided on the left thigh binding assembly and the right thigh binding assembly. The control assembly is electrically connected to the inertia measurement sensor. The control assembly can be configured according to the inertia. The signal of the measurement sensor determines the wearer's current gait, and then determines the reference output torque. Through the lateral swing torque feedback control, the servo motor is controlled to drive the swing component and the thigh binding component to swing in the left and right directions relative to the waist base.

beneficial effects

1) The present invention fills the shortcomings of the existing lower limb exoskeleton solutions for lateral walking rehabilitation;

2) The present invention can perform adaptive adjustments for wearers of different body types, and can avoid cumbersome adjustment processes when wearing;

3) The main power and control structure of the exoskeleton provided by the present invention are fixed at the waist, and the inertia is small when the thigh swings, which is conducive to the control system providing relatively stable and accurate power assistance or resistance, and the wearing comfort is good;

4) The present invention uses a torque sensor to connect the servo motor and the swing component to read the lateral swing torque in real time, which is conducive to real-time control and ensures real-time control and analysis of the exoskeleton's lateral swing assistance or resistance;

5) The present invention adopts a space rod structure design that fits the kinematics of human bones, so that the shear force of the exoskeleton assistance process on the human tissue at the thigh binding area is smaller;

6) The present invention has good human-computer interaction comfort. The complex multi-freedom kinematics characteristics of the human body's hip joint during lateral walking and longitudinal walking can be adapted and compensated by the multi-degree-of-freedom passive joints of the exoskeleton.

Description of drawings

Figure 1 is a picture of human body wearing;

Figure 2 is an overall view of the lateral walking rehabilitation exoskeleton;

Figure 3 is a structural diagram of the lateral walking rehabilitation exoskeleton component;

Figure 4 is a lateral walking gait diagram on the left side;

Figure 5 is a lateral walking gait diagram on the right side;

Figure 6 is a schematic diagram of longitudinal free walking;

Figure 7 is a schematic diagram of the hip free joint replacement solution;

Figure 8 is a schematic diagram of the thigh free joint replacement solution;

Figure 9 is a schematic diagram of the adjustable thigh support solution.

Shown in the picture:

100-waist component; 101-waist binding; 102-waist base; 103-waist base shield;

200-Swing component; 210-Left swing component; 211-Left servo motor; 212-Left coupling; 213-Left torque sensor; 214-Left swing bracket; 215-Left swing sliding shaft; 216-Left linear bearing; 217 -Left thigh support; 220-right swing assembly;

300-Thigh binding component; 310-Left thigh binding component; 311-Left thigh binding; 312-Left thigh shaft; 313-Left thigh pulley seat; 314-Left thigh pulley; 315-Left thigh thrust washer ; 316-Left thigh pulley shaft; 320-Right thigh binding component;

401-control component; 402-battery pack; 413-inertia measurement sensor.

Embodiments of the invention

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments These are some embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention. Accordingly, the following detailed description of embodiments of the invention provided in the appended drawings is not intended to limit the scope of the claimed invention, but rather to represent selected embodiments of the invention.

Referring to Figures 1 and 2, a hip exoskeleton for lateral walking rehabilitation includes a waist component 100, a swing component 200 and a thigh binding component 300. The waist assembly 100 includes a waist binding 101, a waist base 102 and a waist base shield 103; the waist base 102 is fixed on the rear side of the waist binding 101, and the waist base shield 103 is fixed on the waist base 102; The swing assembly 200 includes a left swing assembly 210 and a left swing assembly 220; the left swing assembly 210 and the left swing assembly 220 have the same structure and are symmetrically arranged on the left and right sides of the waist base 102; the thigh binding assembly 300 includes a left thigh binding The assembly 310 and the right thigh binding assembly 320; the left thigh binding assembly 310 and the right thigh binding assembly 320 have the same structure and are connected to the left swing assembly 210 and the left swing assembly 220 respectively.

The left swing component 210 drives the left thigh binding component 310 to swing left and right; the left swing component 220 drives the right thigh binding component 320 to swing left and right; the left thigh binding component 310 and the right thigh binding component 320 pass through the left swing component 210 and the right thigh binding component 320 respectively. The left swing assembly 220 realizes forward and backward swing.

When using a lower limb exoskeleton based on lateral walking, consider that the waist and leg sizes of each patient with lower limb dysfunction are different. For this reason, the straps of the waist binding 101 and the left thigh binding 301 in this embodiment are set to be adjustable, which facilitates the user to dynamically adjust according to the actual size of the waist and legs, thereby fixing the external movements of the lower limbs based on lateral walking. skeleton. In addition, increasing the fit between the lower limb exoskeleton and the user based on lateral walking is beneficial to the user's lateral walking.

The left and right structures of the hip exoskeleton used for lateral walking rehabilitation are completely symmetrical. The structure of the left half will be taken as an example for detailed explanation below.

Referring to Figures 2 and 3, the left swing assembly 210 includes a left servo motor 211, a left coupling 212, a left torque sensor 213, a connecting assembly and a left thigh bracket 217.

The left servo motor 211 is disposed on the left side of the waist base 102. The left torque sensor 213 is connected to the output end of the left servo motor 211 through the left coupling 212. The connecting component is connected to the left torque sensor 213. The left servo motor 211, The left coupling 212, the left torque sensor 213 and the connecting component together constitute the active left swing joint P11. The left servo motor 211 drives the left coupling 212, the left torque sensor 213 and the connecting component to rotate on the axis of the left servo motor 211. The axis swings left and right relative to the waist assembly 100; the left thigh bracket 217 is connected to the connecting assembly, and the left thigh bracket 217 can swing forward and backward and slide left and right relative to the left swing bracket 214.

Specifically, referring to Figure 7, one implementation of the connection assembly is: the connection assembly includes a left swing sliding shaft 215 and a left linear bearing 216. One end of the left swing sliding shaft 215 is provided with a connecting flange, and the connecting flange is connected to the left swing sliding shaft 215. The torque sensor 213 is fixed, the left linear bearing 216 is slidingly and rotationally connected to the rotating left swing sliding shaft 215, and the connecting flange of the left thigh bracket 217 is fixed on the left linear bearing 216; the left swing sliding shaft 215, the left linear bearing 216 and the left The thigh brace 217 together form a passive left hip free joint.

Specifically, referring to Figures 2 and 3, another implementation of the connection assembly is: the connection assembly includes a left swing bracket 214, a left swing sliding shaft 215, and a left linear bearing 216. The left swing sliding shaft 215 is fixed on On the shaft hole of the left swing bracket 214, the left swing sliding shaft 215 is axially fixed to the shaft hole of the left swing bracket 214 through the left linear bearing 216 and a matching shaft elastic retaining ring. The left linear bearing 216 is slidingly and rotationally connected to the rotating left On the swing sliding shaft 215, the connecting flange of the left thigh bracket 217 is fixed on the left linear bearing 216. The left swing bracket 214, the left swing sliding shaft 215, the left linear bearing 216 and the left thigh bracket 217 together form a passive left hip free joint P12, so that the left thigh bracket 217 can swing back and forth and slide left and right relative to the left swing bracket 214. Two degrees of freedom.

Referring to Figure 9, the left thigh support 217 includes a first bending member, a second bending member and a connecting plate;

The first bending part and the second bending part both have L-shaped structures; one side of the first bending part is connected to the left linear bearing 216, and the other side is detachably connected to one side of the second bending part, and there is a gap between them. The position can be adjusted relatively, and the other side of the second bending member is fixedly connected to the connecting plate.

As a preferred embodiment of the present invention, the left thigh bracket 217 and the left thigh binding assembly 310 can swing back and forth and slide up and down relative to the left thigh bracket 217.

Specifically, referring to Figure 3, as an embodiment of the left thigh binding assembly 310, the left thigh binding assembly 310 includes a left thigh binding 311, a left thigh rotating shaft 312, a left thigh pulley seat 313, a left thigh pulley 314. Two left thigh thrust washers 315 and left thigh pulley shaft 316.

The left thigh pulley seat 313 is rotatably connected to the left thigh binding 311 through the left thigh rotating shaft 312, so that the left thigh pulley seat 313 can swing laterally relative to the left thigh binding 311; the left thigh pulley shaft 316 passes through it in sequence along its own rotation axis. Pass a left thigh thrust washer 315, a left thigh pulley 314, and another left thigh thrust washer 315 and insert it into the upper shaft hole of the left thigh pulley shaft seat 313, and radially lock it with a matching screw; the left thigh pulley 314 Sliding in the long slot of the left thigh bracket 217, the left thigh thrust washers 315 on both sides clamp and restrict the left thigh bracket 217, so that the left thigh bracket 217 can be in the plane defined by the two left thigh thrust washers 315 Relative rotation and translation, the left thigh binding assembly 310 and the left thigh bracket 217 together constitute the passive left thigh free joint P13, so that the left thigh binding 311 can swing laterally relative to the left thigh bracket 217 along the axis of the left thigh rotation axis 312. The left thigh pulley shaft 316 swings back and forth and slides up and down on its own axis, with a total of three degrees of freedom.

Specifically, referring to Figure 8, as another embodiment of the left thigh binding assembly 310, the left thigh binding assembly 310 includes a left thigh binding 311, the left thigh bracket 217 is a telescopic sleeve, and the left thigh binding 311 It is connected with the lower end of the left thigh support 217 through a rotating shaft.

Considering the different training states required for lateral walking rehabilitation in patients with lower limb dysfunction at different periods, if the same training state is used to train patients with lower limb dysfunction, the rehabilitation effect of patients with lower limb dysfunction will be reduced. To this end, the lower limb exoskeleton based on lateral walking in this embodiment adopts different training states in different periods to promote the active rehabilitation effect of patients with lower limb dysfunction.

Specifically, the lower limb exoskeleton based on lateral walking of this embodiment includes a first training state and a second training state.

Among them, the first training state is designed for patients with lower limb dysfunction who have insufficient hip abduction and adduction muscles in the early stages of balance training and lateral walking exercises. In the first training state, the servo motor is fixed relative to the wearer and drives the swing component 200 and the thigh binding component 300 to provide assistance to the abduction and adduction of the hip joint to assist patients with lower limb dysfunction to walk laterally.

The second training state is designed to train the hip abduction and adduction muscles of patients with lower limb dysfunction at the end of balance training. In the second training state, the servo motor is fixed relative to the wearer, driving the swing component 200 and the thigh binding component 300 to provide controllable resistance to hip joint abduction and adduction, so as to encourage patients with lower limb dysfunction to overcome resistance and walk laterally.

The following is a practical example to illustrate how a lower limb exoskeleton based on lateral walking can help patients with lower limb dysfunction achieve their first training state. Take the lower limb exoskeleton based on lateral walking to assist patients with lower limb dysfunction to walk laterally left and right as an example.

Referring to Figure 4, in practical applications, when a lower limb exoskeleton based on lateral walking assists a patient with lower limb dysfunction to walk laterally to the left, the servo motor drives the left swing component 210 and the left thigh binding component 310 to swing to the left, providing Swing your left leg to the left with assistance until your right foot is supported. The servo motor drives the right swing component 220 and the right thigh binding component 320 to swing to the right, providing assistance to shift the body's center of gravity until the legs are standing. The servo motor drives the left swing component 210 and the left thigh binding component 310 to swing to the right. At the same time, the servo motor drives the right swing component 220 and the right thigh binding component 320 to swing to the left, jointly assisting the legs to be brought together.

Please continue to refer to Figure 5. In practical applications, when the lower limb exoskeleton based on lateral walking assists patients with lower limb dysfunction to walk laterally to the left, the servo motor drives the right swing component 220 and the right thigh binding component 320 to swing to the right. Provide assistance to swing your right leg to the right until your left foot is supported. The servo motor drives the left swing component 210 and the left thigh binding component 310 to swing to the left, providing assistance to shift the body's center of gravity until the legs are standing. The servo motor drives the left swing component 210 and the left thigh binding component 310 to swing to the right. At the same time, the servo motor drives the right swing component 220 and the right thigh binding component 320 to swing to the left, jointly assisting the legs to be brought together.

It should be noted that since the lower limb exoskeleton based on lateral walking assists patients with lower limb dysfunction to walk laterally to the left or right, the servo motor drives the swing direction of the swing assembly 200 and the thigh binding assembly 300 and the lower limb exoskeleton based on lateral walking provides The servo motor drives the swing assembly 200 and the thigh binding assembly 300 to swing in opposite directions when patients with lower limb dysfunction are prevented from walking laterally to the left or right. For this reason, for the practical application of the lower limb exoskeleton based on lateral walking to prevent patients with lower limb dysfunction from walking laterally to the left or right, please refer to the lower limb exoskeleton based on lateral walking 10 to assist patients with lower limb dysfunction to walk laterally to the left or right. This will not be repeated here.

The lower limb exoskeleton based on lateral walking in this embodiment also includes an electronic control component. The electronic control component includes a control component 401 and a battery pack 402. The control component 401 and the battery pack 402 are fixedly mounted on the waist base 102, and the control component 401 and The battery pack 402 is located within the waist base shield 103 .

The control component 401 is electrically connected to the torque sensors and servo motors on the left and right sides. The control component 401 controls the servo motor to drive the swing component 200 and the thigh binding component 300 to swing in the left and right direction according to the torque output feedback signal of the torque sensor in the left and right swing direction, forming a lateral swing torque feedback control for outputting the torque of the left and right swing direction. . In the first training state, the control component 401 controls the servo motor fixed on the waist base 102 according to the torque output signal to drive the swing component 200 and the thigh binding component 300 to provide assistance for hip joint abduction and adduction. In the second training state, the control component 401 can control the servo motor fixed on the waist base 102 according to the torque output signal to drive the swing component 200 and the thigh binding component 300 to provide adjustable resistance to hip joint abduction and adduction. Under the lateral swing torque feedback control, the exoskeleton can better provide the wearer with stable and controllable power or resistance assistance that is consistent with ergonomic dynamics.

In some embodiments, the control component 401 can be operated by patients with lower limb dysfunction or relatives, caregivers, etc. themselves. Of course, other methods can also be used to assist control. For example, the lower limb exoskeleton based on lateral walking in this embodiment may also include a walking state recognition component, that is, an inertia measurement sensor 403 provided on the thigh binding 300 , and the control component 401 is electrically connected to the inertia measurement sensor 403 . Therefore, the control component 401 can determine the wearer's current gait based on the signal of the inertia measurement sensor 403, and then determine the reference output torque. Through the lateral swing torque feedback control, the servo motor is controlled to drive the swing component 200 and the thigh binding component 300 relative to the waist. The base 102 swings in the left and right directions.

As shown in Figure 6, after the wearer correctly adjusts the exoskeleton, the exoskeleton imposes no additional restrictions on the wearer when walking in the forward direction.

In the above solution provided by the present invention, the exoskeleton has the ability to adapt to wearers of different body types when worn. The wearer's different left and right hip joint distances, hip widths and thigh widths are mainly compensated adaptively through the left and right sliding of the left hip free joint P12, assisting the left hip free joint P12 and left thigh free joint P13 and other degrees of freedom; the wearer The unused thigh length and the vertical deviation during wearing are mainly compensated adaptively by the left thigh free joint P13 sliding up and down, assisting the left hip free joint P12, left thigh free joint P13 and other degrees of freedom. This enables the exoskeleton to have better adaptability to wearers of most body shapes and avoid adjustment steps when wearing it.

In the above scheme provided by the present invention, most of the structure of the exoskeleton is located at the waist, and the system inertia is relatively small, so that the exoskeleton produces less discomfort when performing power-assisted or resistance training on the wearer, and it is relatively easy for the exoskeleton to output more Stable and precise dynamic assist or resistance.

In the above solution provided by the present invention, when performing lateral walking training, the exoskeleton drives the swing component and the thigh binding component through the servo motor located at the waist, and the assist or resistance acting on the wearer has a high degree of fit with human skeleton dynamics. , the shearing force generated at the thigh binding area is smaller and has better comfort.

In the above solution provided by the present invention, when walking longitudinally, the front and back swing of the thigh simultaneously drives the passive hip free joint and the thigh free joint to move in various degrees of freedom, as well as the active swing joint including the servo motor. Among them, the additional load of the passive joints on longitudinal walking mainly comes from friction, which can be ignored in the corresponding situation; the active swing joints will generate additional loads on longitudinal walking due to the mechanical damping of the servo motor. It should be noted that in the exoskeleton structure of the present invention, when walking longitudinally, the maximum swing angle of the servo motor is less than ±5°, so in specific embodiments, the total additional load generated by the exoskeleton on the wearer when walking longitudinally can be neglect.

In the above solution provided by the present invention, the multi-degree-of-freedom passive joints of the exoskeleton can adapt to the complex multi-degree-of-freedom kinematic characteristics of the hip joint when the wearer walks laterally or vertically through adaptive passive motion, and has good human-machine characteristics. Interaction comfort.

In summary, the present invention has designed a lower limb exoskeleton for lateral walking rehabilitation, which realizes hip joint lateral movement assistance and training assistance through waist components, swing components, thigh binding components and electronic control components, and proposes a new type of exoskeleton. Lower extremity exoskeleton protocol for lateral walking rehabilitation. At the same time, the shortcomings of the existing lateral walking rehabilitation exoskeleton are improved to a certain extent: the exoskeleton of the invention has a space rod structure through the swing component and the thigh binding component, so that when worn, the size of the exoskeleton structure changes with the wearer's body shape and The adaptive adjustment for different wearing positions not only has certain adaptive capabilities for wearers of different body types, but also basically avoids the cumbersome structural adjustment process when wearing; it uses space when performing active-assisted lateral walking and passive free longitudinal walking. The kinematic characteristics of the thigh strapping driven by the guide rod slider structure have a high degree of fit with the hip joint extension/abduction in human-machine skeletal dynamics. The assistance or resistance to the human body during lateral walking assists the wearer's thigh strapping. The shear force generated on the surface of the human tissue at the binding site is small, which improves the comfort of the training process; the multiple passive degrees of freedom of the space rod structure are used to adapt to and compensate for the complex multi-degree of freedom kinematic characteristics of the human hip joint, improving human-computer interaction. Comfort; in addition, because the main structure is fixed on the waist component, the system inertia is greatly reduced; a torque sensor is used to connect the servo motor and the swing component to read the exoskeleton's lateral walking assistance or resistance to the human body in real time, which is more conducive to providing dynamically controllable Lateral walking with assistance or resistance. Therefore, in the first and second stages of training, it shows better adaptability to wearers of different body types, training comfort, better controllability, and is compatible with free and passive longitudinal walking ability.

The above descriptions are only embodiments of the present invention, and are not intended to limit the scope of the present invention. Any equivalent structure or equivalent process transformation made by using the description and drawings of the present invention, or directly or indirectly applied to other related The system field is likewise included in the protection scope of the present invention.

Claims (10)

A hip exoskeleton for lateral walking rehabilitation, characterized by: Includes waist component (100), swing component (200) and thigh binding component (300); The waist assembly (100) includes a waist binding (101), a waist base (102) and a waist base shield (103); the waist base (102) is fixed on the rear side of the waist binding (101), and the waist base The shield (103) is fixedly mounted on the waist base (102); The swing component (200) includes a left swing component (210) and a left swing component (220); the left swing component (210) and the left swing component (220) have the same structure and are symmetrically arranged on the left and right sides of the waist base (102). side; The thigh binding component (300) includes a left thigh binding component (310) and a right thigh binding component (320); the left thigh binding component (310) and the right thigh binding component (320) have the same structure and are respectively the same as the left thigh binding component (320). The swing component (210) is connected to the left swing component (220); The left swing component (210) drives the left thigh binding component (310) to swing left and right; the left swing component (220) drives the right thigh binding component (320) to swing left and right; The left thigh binding component (310) and the right thigh binding component (320) realize forward and backward swinging through the left swing component (210) and the left swing component (220) respectively. A hip exoskeleton for lateral walking rehabilitation according to claim 1, characterized in that: The left swing assembly (210) includes a left servo motor (211), a left coupling (212), a left torque sensor (213), a connecting assembly and a left thigh bracket (217); The left servo motor (211) is arranged on the left side of the waist base (102). The left torque sensor (213) is connected to the output end of the left servo motor (211) through the left coupling (212), and the connecting component is connected to the left torque sensor. (213) connection, the left servo motor (211), left coupling (212), left torque sensor (213) and connecting components together form an active left swing joint, and the left servo motor (211) drives the left coupling The device (212), the left torque sensor (213) and the connecting assembly swing left and right relative to the waist assembly (100) with the axis of the left servo motor (211) as the rotation axis; The left thigh bracket (217) is connected with the connecting component, and the left thigh bracket (217) can swing forward and backward and slide left and right relative to the left swing bracket (214). A hip exoskeleton for lateral walking rehabilitation according to claim 2, characterized by: The connection component includes a left swing sliding shaft (215) and a left linear bearing (216). One end of the left swing sliding shaft (215) is provided with a connecting flange. The connecting flange is fixed to the left torque sensor (213). The left linear bearing (216) is slidingly and rotationally connected to the rotating left swing sliding shaft (215), and the connecting flange of the left thigh bracket (217) is fixed on the left linear bearing (216); the left swing sliding shaft (215), the left linear bearing (216) 216) and the left thigh bracket (217) together form a passive left hip free joint. A hip exoskeleton for lateral walking rehabilitation according to claim 2, characterized by: The connection components include the left swing bracket (214), the left swing sliding shaft (215), and the left linear bearing (216). The left swing sliding shaft (215) is fixed on the shaft hole of the left swing bracket (214), the left linear bearing (216) is slidingly and rotationally connected to the rotating left swing sliding shaft (215), and the connecting flange of the left thigh bracket (217) Fixed on the left linear bearing (216); the left swing bracket (214), the left swing sliding shaft (215), the left linear bearing (216) and the left thigh bracket (217) together constitute a passive left hip free joint. A hip exoskeleton for lateral walking rehabilitation according to claim 3 or 4, characterized by: The left thigh bracket (217) and the left thigh binding component (310), the left thigh binding component (310) can swing back and forth and slide up and down relative to the left thigh bracket (217). A hip exoskeleton for lateral walking rehabilitation according to claim 5, characterized by: The left thigh binding component (310) includes a left thigh binding (311), a left thigh shaft (312), a left thigh pulley seat (313), a left thigh pulley (314), and two left thigh thrust washers. (315) and left thigh pulley shaft (316); The left thigh pulley seat (313) is rotatably connected to the left thigh binding (311) through the left thigh rotating shaft (312), so that the left thigh pulley seat (313) can swing laterally relative to the left thigh binding (311); The thigh pulley shaft (316) passes through a left thigh thrust washer (315), the left thigh pulley (314), and another left thigh thrust washer (315) along its own rotation axis and is inserted into the left thigh pulley shaft seat ( 313) upper shaft hole, and is radially locked by matching screws; the left thigh pulley (314) slides in the long slot hole of the left thigh bracket (217), and is clamped by the left thigh thrust washers (315) on both sides The left thigh bracket (217) is restricted so that the left thigh bracket (217) can relatively rotate and translate in the plane defined by the two left thigh thrust washers (315). The left thigh binding assembly (310) and the left thigh bracket (315) 217) together form a passive left thigh free joint, so that the left thigh binding (311) can swing laterally relative to the left thigh bracket (217) with the axis of the left thigh rotation shaft (312) and with the left thigh pulley shaft (316) itself. The axis swings back and forth and slides up and down, with a total of three degrees of freedom. A hip exoskeleton for lateral walking rehabilitation according to claim 5, characterized by: The left thigh binding assembly (310) includes a left thigh binding (311), the left thigh bracket (217) is a telescopic sleeve, and the lower end of the left thigh binding (311) and the left thigh bracket (217) is connected through a rotating shaft. A hip exoskeleton for lateral walking rehabilitation according to claim 6, characterized by: The left thigh support (217) includes a first bending part, a second bending part and a connecting plate; The first bending part and the second bending part both have L-shaped structures; one side of the first bending part is connected to the left linear bearing (216), and the other side is detachably connected to one side of the second bending part, and the two The position between the second bending member and the second bending member can be adjusted relatively, and the other side of the second bending member is fixedly connected to the connecting plate. A hip exoskeleton for lateral walking rehabilitation according to claim 2, characterized by: It also includes an electronic control component. The electronic control component includes a control component (401) and a battery pack (402). The control component (401) and the battery pack (402) are fixedly mounted on the waist base (102), and the control component (401) and battery pack (402) located within waist base shield (103); The control component (401) is electrically connected to the torque sensors and servo motors on the left and right sides. The control component (401) outputs a feedback signal according to the torque of the torque sensor in the left and right swing direction, and controls the servo motor to drive the swing component (200) and the thigh strap. The binding assembly (300) swings in the left and right direction to form a lateral swing torque feedback control for outputting a moment of swinging in the left and right direction. A hip exoskeleton for lateral walking rehabilitation according to claim 9, characterized in that: The electronic control assembly also includes two inertia measurement sensors (403). The two inertia measurement sensors (403) are respectively provided on the left thigh binding assembly (310) and the right thigh binding assembly (320). The control assembly (401 ) is electrically connected to the inertia measurement sensor (403). The control component (401) can determine the wearer's current gait based on the signal of the inertia measurement sensor (403), thereby determining the reference output torque, and controlling the servo through the lateral swing torque feedback control. The motor drives the swing component (200) and the thigh binding component (300) to swing in the left and right direction relative to the waist base (102).