CN105997438B - A self-adjusting wearable leg power brace - Google Patents

A self-adjusting wearable leg power brace Download PDF

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Publication number
CN105997438B
CN105997438B CN201610574785.2A CN201610574785A CN105997438B CN 105997438 B CN105997438 B CN 105997438B CN 201610574785 A CN201610574785 A CN 201610574785A CN 105997438 B CN105997438 B CN 105997438B
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CN
China
Prior art keywords
support plate
self
box
fixed
power
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Expired - Fee Related
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CN201610574785.2A
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Chinese (zh)
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CN105997438A (en
Inventor
李铁风
李旻轩
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Zhejiang University ZJU
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Zhejiang University ZJU
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Priority to CN201610574785.2A priority Critical patent/CN105997438B/en
Publication of CN105997438A publication Critical patent/CN105997438A/en
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Expired - Fee Related legal-status Critical Current
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
    • A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H11/00—Belts, strips or combs for massage purposes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H11/00—Belts, strips or combs for massage purposes
    • A61H2011/005—Belts, strips or combs for massage purposes with belt or strap expanding and contracting around an encircled body part
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal
    • A61H2201/1642—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/10—Leg

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  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The invention discloses a kind of wearable leg power braces of self-regulation, the two brace clamping plates including being fixed on human leg two sides by binding, each brace clamping plate includes the thigh support plate connecting with thigh and the shin support panel connecting with shank, the thigh support plate and shin support panel are rotatablely connected in the position for being located at human body knee joint, it further include the driving device for driving the swing opposite with shin support panel of thigh support plate, the driving device includes power box and drawing steel cable, power box includes: box body, the sliding block of the fixed drawing steel cable in side in box body is set, the high-elastic polymer sheet of dielectric that one end and the fixed other end of inboard wall of cartridge and sliding block are fixed, the power supply of voltage is provided for the high-elastic polymer sheet of dielectric, reset spring between inboard wall of cartridge and sliding block is set.The leg power branch lamps structure is very simple, and component is few, portable construction, avoids and increases biggish added burden to user.

Description

A kind of wearable leg power brace of self-regulation
Technical field
The present invention relates to the field of medical instrument technology more particularly to a kind of wearable leg power braces of self-regulation.
Background technique
Power exoskeleton, also known as " ectoskeleton is armoring " or " ectoskeleton machine first ", the insectival ectoskeleton of structure class can be worn On the person, protection, additional power or ability are provided to people, enhances function of human body, such as enables leg handicapped person oneself upstairs, Allow soldier can walk fast and vigorously, it is accessible run and will not fatigue, will not it is injured, two sections of jumps, the gloves above rack can be used It, can be with adsorbing metal etc. with viscosity.
Power exoskeleton collects the action message of user by sensor, these information pass to message handler into Row processing, starts corresponding mechanical part then to export energy.The sensor that can be used in power exoskeleton is very It is more, including angle sensor, myoelectric sensor, ground transaucer, muscle pressure sensor etc..Equally, for the machinery of output System also has many selections, and relatively common has hydraulic system and baric systerm.The field ten that this wearable ectoskeleton uses That divides is extensive, is also to be widely used in terms of medical health-care, to help patient to overcome in addition to being applied in military aspect Corresponding limbs and inconvenience in the action.Wearable ectoskeleton is devised the different parts for being worn on the mankind, also root According to the needs of different parts, different wearable ectoskeletons has different shape and function.The most common power is wearable outer Bone has glove-type, jacket-type, long pants type, Backpack type and complete set from top to bottom.
There is document (bibliography: A Self-Adjusting Knee Exoskeleton for obot-Assisted Treatment of Knee Injuries.IEEE/RSJ International Conference on Intelligen Robots and Systems, San Francisco, CA, USA, Sept, 25-30,2011, pp4917-4922.) disclose one Kind is suitable for the machinery of medical health-care.3-RRP Mechanism used in it can be imitated accurately and auxiliary knee endoprosthesis Movement and bending, and be automatically aligned to, so that patient be assisted to achieve the effect that rehabilitation, be particularly suited for use in multivariant knee It covers.Although the structure can be good at agreeing with knee articulation, the structure is more complicated and heavy, is not suitable for action The patient of inconvenient the elderly and lower limb paralysis use, and the manufacturing process of the device is more complicated, are not suitable for extensive raw It produces.
There is document (bibliography: Design of a Quasi-Passive Knee Exoskeleton to Assist Running.IEEE/RSJ International Conference on Intelligent Robots and Systems Acropolis Convention Center, Nice, France, Sept, 22-26,2008, pp747-754.) disclose one kind Auxiliary suitable for running is mechanical.The device stores energy when walking with release using the spring parallel with knee, makes to wear Unsuitable fatigue when wearer walks, while making simpler on foot.Although the device can play extraordinary effect in patient's rehabilitation, But this device can increase additional burden than cumbersome to wearer, while its method of wearing is complicated.
Due to the raising of World Medical level, the average life span of the mankind extends, and the quantity of the elderly increases year by year, many old Year people be faced with joint ageing, it is handicapped the problems such as.In addition, the people poor or without ability to act of some ability to act by It cannot be moved in for a long time, joint is easy atrophy, aging.Therefore, be badly in need of a kind of easy donning, good activity, can assist rehabilitation and The equipment of walking.
Summary of the invention
The present invention provides a kind of wearable leg power braces of self-regulation, and the leg power brace is simple and light, Facilitate wearing, rehabilitation and walking can be assisted.
The present invention provides the following technical scheme that
A kind of wearable leg power brace of self-regulation, the two braces folder including being fixed on human leg two sides by binding Plate, each brace clamping plate include the thigh support plate connecting with thigh and the shin support panel connecting with shank, described big Leg support plate and shin support panel are rotatablely connected in the position for being located at human body knee joint, further include driving thigh support plate and shank The opposite driving device swung of support plate, the driving device include power box and drawing steel cable,
Power box includes:
Box body,
Sliding block is slidably arranged in box body, the fixed drawing steel cable in the side of sliding block,
The high-elastic polymer sheet of dielectric, one end are fixed with inboard wall of cartridge, and the other end is fixed with sliding block,
Power supply provides voltage for the high-elastic polymer sheet of dielectric,
Reset spring is arranged between inboard wall of cartridge and sliding block；
Power box is fixed on the bandage on thigh support plate or on thigh support plate, and the free end for pulling steel cable is fixed on On shin support panel or on the bandage of shin support panel.
When inventive drive means are powered, the high-elastic polymer sheet of dielectric extends under the action of voltage, and band movable slider moves Dynamic, sliding block pulls steel cable, and angle between thigh support plate and shin support panel is made to become smaller；After power-off, in the effect of reset spring Under, steel cable loosens, and resets between thigh support plate and shin support panel, to make phase between thigh support plate and shin support panel To swing, user's rehabilitation training or auxiliary is helped to walk.The main component of inventive drive means is that dielectric is high-elastic poly- Object plate is closed, compared with conventional hydraulic system, baric systerm or motor, structure is very simple, and component is few, and portable construction avoids User is given to increase biggish added burden.
Preferably, the driving device includes the first driving device and second being separately positioned on two brace clamping plates Driving device, and the third driving device being arranged on the bandage of knee rear.
Driving device is set in leg two sides and rear side respectively, multiple driving devices cooperate, make thigh support plate with it is small The opposite wobbling action of leg support plate is more reliable.
Plurality of straps are respectively equipped on thigh support plate and shin support panel, for making leg power brace and user Leg is mutually fixed, in order to increase user's comforts of use, preferably, being provided with Self tightening device on the bandage.
Preferably, the Self tightening device includes:
Self-tightening box,
Two shafts, gap are located in self-tightening box, and bandage passes through gap and compressed by two shafts, and two shafts relatively rotate tightening Or loosen bandage,
Actuator, two shafts of driving relatively rotate.
Actuator can be a variety of drive forms, preferably, the actuator is motor.
Motor drives two shafts to relatively rotate under the action of driving power, and two shafts compress bandage, in two shaft phases When to rotation, since the frictional force between shaft and bandage makes bandage tighten or loosen.
Preferably, the actuator of another driving method includes:
The high-elastic polymer strip of dielectric and adjustable spring, are connected in parallel between self-tightening box inner wall and shaft,
Second source provides voltage for the high-elastic polymer strip of dielectric.
After energization, the high-elastic polymer strip elongation of two dielectrics connecting respectively with two shafts pushes the rotation of two shafts, makes bandage Tightening；After power-off, resetted in the pulling force lower rotary shaft of adjustable spring, bandage loosens.
Bandage with Self tightening device make leg power brace of the invention convenient for wearing, while the tightening of bandage with loosen There are massage functions to the leg of user, promote the blood circulation of user leg.
Preferably, leg power brace of the invention further includes foot pedal, foot pedal passes through driving device and shank branch Fagging connection.
Driving device enables the foot pedal of leg power brace of the invention to tighten tension upwards or loosen downwards, can assist The user of ankle inability walks.
Preferably, the telescopic of shin support panel is adjustable.The length of shin support panel is adjustable convenient for different heights People uses leg power brace of the invention.
Compared with prior art, the invention has the benefit that
1, the main component of inventive drive means is the high-elastic polymer sheet of dielectric, with conventional hydraulic system, air pressure System or motor are compared, and structure is very simple, and component is few, portable construction, are avoided and are increased biggish added burden to user；
2, the bandage with Self tightening device make leg power brace of the invention convenient for wearing, while the tightening of bandage with put Pine has massage functions to the leg of user, promotes the blood circulation of user leg.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of leg power brace of the present invention；
Fig. 2 is the deployed configuration schematic diagram of leg power brace of the present invention；
Fig. 3 is inventive drive means structural schematic diagram；
Fig. 4 is the Self tightening device structural schematic diagram of embodiment 1；
Fig. 5 is the Self tightening device structural schematic diagram of embodiment 2.
In attached drawing: 1, thigh support plate；2, shin support panel；21, the first shin support panel；22, the second shin support panel； 3, foot pedal；4, bandage；41, the first bandage；42, the second bandage；43, third bandage；44, the 4th bandage；5, driving device； 51, first driving device；52, the second driving device；53, third driving device；501, power box；502, steel cable is pulled；503, Sliding block；504, the high-elastic polymer sheet of dielectric；505, reset spring；6, Self tightening device；611, self-tightening box；612, shaft；613, electric Machine；614, the high-elastic polymer strip of dielectric；615, adjustable spring.
Specific embodiment
Present invention is further described in detail with reference to the accompanying drawings and examples, it should be pointed out that reality as described below It applies example to be intended to convenient for the understanding of the present invention, and does not play any restriction effect to it.
Embodiment 1
As shown in Figure 1, the wearable leg power brace of self-regulation of the present embodiment includes the thigh support plate 1 of rotation connection The opposite driving device 5 swung, connection and leg support with shin support panel 2, driving thigh support plate 1 and shin support panel 2 The foot pedal 3 of 2 bottom of plate, thigh support plate 1 and shin support panel 2 are fixed on the thigh of user and small by bandage 4 respectively On leg.
As shown in Fig. 2, driving device 5 includes that the first driving device 51 being separately positioned on two brace clamping plates and second drive Dynamic device 52, and the third driving device 53 being arranged on the bandage of knee rear.
As shown in figure 3, driving device 5 include power box and drawing steel cable 502, power box include: box body 501, sliding set Sliding block 503, one end and the inboard wall of cartridge set in box body 501 are fixed, the high-elastic polymer of dielectric that the other end and sliding block 503 are fixed Reset bullet 505 is arranged between inboard wall of cartridge and sliding block in plate 504, and the side of sliding block 503, which is fixed, pulls steel cable 502, in power box It is additionally provided with power supply, provides voltage for the high-elastic polymer sheet 504 of dielectric.
The power box of first driving device 51 and the second driving device 52 is fixed on thigh support plate 1, pulls steel cable 502 Free end be fixed on shin support panel 2, the area spongiosa parallel with support plate, third are fixed on the bandage at knee rear The power box of driving device 53 is fixed on the upper end of area spongiosa, and the free end of drawing steel cable 502 is fixed on the lower end of area spongiosa.
In order to guarantee that the stability of driving device 5, each driving device 5 are equipped with two steel cables 502, two steel cables are symmetrical Setting.
When driving device 5 is powered, the high-elastic polymer sheet 504 of dielectric extends under the action of voltage, and band movable slider 503 moves Dynamic, sliding block pulls steel cable 502, and angle between thigh support plate 1 and shin support panel 2 is made to become smaller；After power-off, in reset spring Under the action of 505, steel cable 502 loosens, and resets between thigh support plate 1 and shin support panel 2, thus make thigh support plate 1 with It is opposite between shin support panel 2 to swing, help user's rehabilitation training or auxiliary to walk.
Bandage 4 includes the first bandage 41, the second bandage 42 being fixed on thigh support plate 1, is fixed on shin support panel 2 On third bandage 43, the 4th bandage 44.Every bandage is fixed with ventilative composite sponge close to the side of user's leg, sponge Width is 8~12cm, 3~5cm of thickness.Every bandage is divided into two oval segmental arcs, and 41 length of the first bandage is 75cm, the second bandage 42 length is 70cm, and the length of third bandage 43 is 55cm, and the length of the 4th bandage 44 is 45cm.Bandage is solid by velcro It is fixed, while Self tightening device is equipped on every bandage.
As shown in figure 4, the Self tightening device of the present embodiment includes self-tightening box 611, two shafts being arranged in self-tightening box 611 612, the motor 613 of drive shaft rotation.Two 612 gaps of shaft are located in self-tightening box 611, and bandage 4 passes through gap by two turns Axis 611 compresses, and two shafts relatively rotate, since the frictional force between shaft and bandage makes bandage tighten or loosen.Bandage from Tight function makes the leg power brace of the present embodiment convenient for wearing, while the tightening of bandage has with the leg for loosening to user Massage functions promote the blood circulation of user leg.
The leg power brace of the present embodiment further includes foot pedal 3, and foot pedal 3 passes through driving device and shin support panel 2 Connection.Driving device enables that foot pedal is driven to tighten tension upwards or loosen downwards, and the user of ankle inability can be assisted to walk.
The telescopic of shin support panel 2 is adjustable.Shin support panel 2 includes the first shin support panel 21 and the second shank branch Fagging 22 is carried out up and down between first shin support panel 21 and the second shin support panel 22 by pressing jagged trip button Sliding and locking, enable the length of the leg power brace of the present embodiment to be adjusted according to the height of user.
Embodiment 2
Compared with Example 1, it the difference is that only the structure of Self tightening device 6.
As shown in figure 5, the Self tightening device 6 of the present embodiment includes self-tightening box 611, two be arranged in self-tightening box 611 turn The actuator that axis 612, drive shaft rotate.Actuator is high-elastic poly- including being connected in parallel to dielectric between self-tightening box inner wall and shaft Object item 614 and adjustable spring 615 are closed, after energization, the high-elastic polymer strip 614 of dielectric extends, and two shafts is pushed to relatively rotate, and stretches Spring 615 is compacted, the bandage 4 across two shafts 612 due to shaft frictional force and tighten；After power-off, dielectric is high-elastic Polymer strip 614 is restored, and is resetted in the pulling force lower rotary shaft 612 of adjustable spring 615, bandage 4 loosens.
Technical solution of the present invention and beneficial effect is described in detail in embodiment described above, it should be understood that Above is only a specific embodiment of the present invention, it is not intended to restrict the invention, it is all to be done in spirit of the invention Any modification, supplementary, and equivalent replacement etc., should all be included in the protection scope of the present invention.

Claims (6)

1.一种自调节可穿戴腿部动力支具，包括通过绑定固定在人体腿部两侧的两支具夹板，所述各支具夹板包括与大腿连接的大腿支撑板以及与小腿连接的小腿支撑板，小腿支撑板的长度伸缩可调，所述大腿支撑板和小腿支撑板在位于人体膝关节的位置转动连接，其特征在于，还包括驱动大腿支撑板与小腿支撑板相对摆动的驱动装置，所述的驱动装置包括动力盒和牵拉钢绳，1. A self-adjusting wearable leg power support comprises two support splints fixed on both sides of the human leg by binding, and each support splint comprises a thigh support plate connected with the thigh and a support plate connected with the calf. The calf support plate, the length of the calf support plate is adjustable, the thigh support plate and the calf support plate are rotatably connected at the position of the knee joint of the human body, and it is characterized in that it also includes a drive that drives the thigh support plate and the calf support plate to swing relative to each other. device, the drive device includes a power box and a pulling wire rope, 动力盒包括：The power box includes: 盒体，box, 滑块，滑动设置在盒体内，滑块的一侧固定牵拉钢绳，The slider is slidably arranged in the box body, and the pulling wire rope is fixed on one side of the slider. 介电高弹聚合物板，一端与盒体内壁固定，另一端与滑块固定，Dielectric high-elastic polymer plate, one end is fixed with the inner wall of the box, and the other end is fixed with the slider, 电源，为介电高弹聚合物板提供电压，Power supply, which supplies voltage to the dielectric high-elastic polymer plate, 复位弹簧，设置在盒体内壁与滑块之间；The return spring is arranged between the inner wall of the box and the slider; 动力盒固定在大腿支撑板上或大腿支撑板上的绑带上，牵拉钢绳的自由端固定在小腿支撑板上或小腿支撑板的绑带上；The power box is fixed on the thigh support plate or the strap on the thigh support plate, and the free end of the pulling steel rope is fixed on the calf support plate or the strap on the calf support plate; 所述的绑带上设置有自紧装置。The strap is provided with a self-tightening device. 2.根据权利要求1所述的自调节可穿戴腿部动力支具，其特征在于，所述的驱动装置包括分别设置在两支具夹板上的第一驱动装置和第二驱动装置，以及设置在膝盖后方绑带上的第三驱动装置。2. The self-adjusting wearable leg power brace according to claim 1, wherein the drive device comprises a first drive device and a second drive device respectively arranged on two brace splints, and a 3rd drive on the straps behind the knees. 3.根据权利要求1所述的自调节可穿戴腿部动力支具，其特征在于，所述的自紧装置包括：3. The self-adjusting wearable leg power brace according to claim 1, wherein the self-tightening device comprises: 自紧盒，self-tightening box, 两个转轴，间隙设在自紧盒内，绑带穿过间隙被两转轴压紧，两转轴相对转动收紧或放松绑带，Two rotating shafts, the gap is set in the self-tightening box, the strap passes through the gap and is pressed by the two rotating shafts, and the two rotating shafts rotate relative to each other to tighten or loosen the strap. 驱动件，驱动两转轴相对转动。The driving part drives the two shafts to rotate relative to each other. 4.根据权利要求3所述的自调节可穿戴腿部动力支具，其特征在于，所述的驱动件为电机。4 . The self-adjusting wearable leg power brace according to claim 3 , wherein the driving member is a motor. 5 . 5.根据权利要求3所述的自调节可穿戴腿部动力支具，其特征在于，所述的驱动件包括：5. The self-adjusting wearable leg power brace according to claim 3, wherein the driving member comprises: 介电高弹聚合物条和伸缩弹簧，并行连接在自紧盒内壁与转轴之间，The dielectric high-elastic polymer strip and the expansion spring are connected in parallel between the inner wall of the self-tightening box and the rotating shaft, 第二电源，为介电高弹聚合物条提供电压。The second power supply provides a voltage to the dielectric elastomer strip. 6.根据权利要求1所述的自调节可穿戴腿部动力支具，其特征在于，还包括脚踏板，脚踏板通过驱动装置与小腿支撑板连接。6 . The self-adjusting wearable leg power brace according to claim 1 , further comprising a foot pedal, and the foot pedal is connected to the calf support plate through a driving device. 7 .
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