CN106377394A - Wearable exoskeleton seat device capable of measuring sitting posture of lower limbs of human body - Google Patents

Abstract

The invention discloses a wearable exoskeleton seat device capable of measuring sitting postures of lower limbs of a human body, which comprises a seat mechanism, a shoe cover mechanism and a four-bar mechanism, wherein the four-bar mechanism consists of a thigh mechanism, a shank mechanism, a supporting mechanism and a foot swinging mechanism, the thigh mechanism is movably connected with the seat mechanism to enable the thigh mechanism to move towards the coronal plane of the human body, the shank mechanism is movably connected with the thigh mechanism to enable the shank mechanism to move towards the sagittal plane of the human body, the supporting mechanism is movably connected with the thigh mechanism, and the foot swinging mechanism is respectively and movably connected with the shank mechanism and the supporting mechanism. The invention is simple and comfortable to wear, is beneficial to reducing the muscle load and fatigue of the joints of the lower limbs, and can measure the sitting posture of the lower limbs.

Description

A wearable exoskeleton seat device that can measure the sitting posture of human lower limbs

technical field

The invention belongs to the fields of medical auxiliary equipment and sports equipment, and in particular relates to a wearable exoskeleton seat device capable of measuring the sitting posture of human lower limbs.

Background technique

With the acceleration of China's industrialization process, there are more and more workers on the production line, but standing for a long time for production labor can easily cause muscle soreness in the lower limbs, and even varicose veins in the lower limbs, resulting in a decrease in production efficiency. When doctors in the hospital perform surgery, standing for a long time can easily cause back fatigue and joint pain in the lower limbs, which distracts the attention during the operation and increases the risk of the operation. When nursing patients in hospitals, paralyzed patients need to be picked up and transferred between "beds and wheelchairs". However, most nurses in Chinese hospitals are female, and female nurses are relatively weak. Basically, nurses need to squat halfway to pick up patients. Nurses There is no supporting point for the lower limbs, which not only makes it difficult to pick up the patient, but also has the risk of falling forward and backward. In order to reduce the load on the joint muscles of the lower limbs when standing for a long time or squatting under weight, various "wearable chairs" have appeared, and the human body can sit anywhere after wearing them.

There are two deficiencies in the existing "wearable chairs": on the one hand, most of the existing schemes adopt the three-link mechanism scheme of "thigh bar, calf bar and support bar", which can only realize the single-handed movement of the "calf bar" to the ground. Point support, because the operator’s upper limbs move, the human body needs to constantly adjust the sitting posture to maintain the balance of the center of gravity, the seat is not a stable structure; at the same time, the “support rod” in the 3-link mechanism generally adopts a pneumatic spring with initial compression force, so in the outside world When the force is small, this 3-link mechanism is a fixed and locked structure, which limits the flexion of the knee joint, making it inconvenient for the human body to walk. On the other hand, some "wearable chairs" can only play the role of a chair when sitting, and the human body must be taken off after use to walk, which greatly increases the complexity of use and does not reflect the convenience of wearable chairs. Effect.

Contents of the invention

The technical problem to be solved by the present invention is to provide a wearable exoskeleton seat device that is easy and comfortable to wear, helps to reduce the load and fatigue of lower limb joint muscles, and can measure the sitting posture of lower limbs.

In order to solve the above technical problems, the present invention takes the following technical solutions:

A wearable exoskeleton seat device capable of measuring the sitting posture of human lower limbs, including a seat mechanism, a shoe cover mechanism and a four-bar linkage mechanism, the four-bar linkage mechanism is composed of a thigh mechanism, a calf mechanism, a support mechanism and a foot swing mechanism The thigh mechanism is movably connected with the seat mechanism to move the thigh mechanism toward the coronal plane of the human body, the shank mechanism is movably connected with the thigh mechanism to move the shank mechanism toward the sagittal plane of the human body, the support mechanism is movably connected with the thigh mechanism, and the foot swing mechanism is respectively connected with the The lower leg mechanism and the supporting mechanism are connected flexibly.

The thigh mechanism includes a thigh rod, upper thigh connecting rod, thigh support connecting block, thigh strap, lower thigh connecting rod and thigh inertial measurement unit, the upper part of the upper thigh connecting rod is movably connected with the seat mechanism, and the lower part is installed and connected with the thigh rod , the thigh support connecting block and the thigh strap are respectively fixedly installed on the thigh rod, the upper part of the lower thigh connecting rod is installed and connected with the thigh rod, and the lower part is movably connected with the calf mechanism, the thigh inertial measurement unit is embedded in the thigh rod, and the thigh support connecting block Actively connect with supporting mechanism.

The lower part of the connecting rod on the upper thigh is inserted into the thigh rod and snapped and installed to form a telescopic structure, and the upper part of the connecting rod under the thigh is inserted into the thigh rod and snapped and installed to form a telescopic structure.

The shank mechanism includes a shank inner rod, a shank outer rod, a shank upper connecting rod, a shank swing foot connecting block and a shank inertial measurement unit. The calf inner rod is installed and connected with the calf outer rod, the calf swing foot connection block is fixedly installed on the calf outer rod, the calf inertial measurement unit is embedded in the calf inner rod, and the calf swing foot connection block is movably connected with the leg swing mechanism.

The calf inner rod is inserted into the calf outer rod and snap-fitted to form a telescopic structure.

The supporting mechanism includes a supporting rod, a pneumatic spring outer rod, a pneumatic spring inner rod, a supporting thigh connecting rod and a supporting swing rod connecting rod. The lower part of the spring outer rod is inserted into the support rod and installed to form a telescopic structure. The lower end of the pneumatic spring inner rod is movably connected with the pneumatic spring outer rod, and the upper end is fixedly connected with the supporting thigh connecting rod, and the upper part of the supporting thigh connecting rod is connected with the thigh in the thigh mechanism. The supporting connection block is movably connected, and the supporting swing link connecting rod is movably connected with the swinging foot mechanism.

The inner rod of the pneumatic spring is also sleeved with a linear spring, the upper end of the linear spring is against the lower end surface of the connecting rod supporting the thigh, and the lower end of the linear spring is against the upper end surface of the outer rod of the pneumatic spring.

The foot swing mechanism includes a foot swing rod, a foot swing support connecting rod and a foot swing calf connection rod, one end of the leg swing leg connection rod is fixedly connected with the foot swing rod, the other end is movably connected with the calf swing foot connection block, and the foot swing support is connected The bar is fixedly installed on the swing foot rod, and the swing foot supports the connecting rod to be movably connected with the supporting swing rod connecting rod.

The shoe cover mechanism includes an L-shaped sole plate, a Velcro on the outside of the foot, a Velcro on the instep and a Velcro on the heel. On the bottom surface of the L-shaped sole plate, one end of the instep velcro is connected to the vertical side of the L-shaped sole plate, and the other end is pasted on the outside velcro of the foot, and one end of the heel velcro is connected to the vertical side of the L-shaped sole plate. The side attaches and the other end is glued to the Velcro on the outside of the foot.

The seat mechanism includes a curved seat, a waist strap and a seat connecting block, the waist strap is fastened on the curved seat, and the upper part of the seat connecting block is movably connected with the curved seat so that the seat connecting block Moving towards the sagittal plane of the human body, the lower part of the seat connecting block is movably connected with the upper thigh connecting rod in the thigh mechanism.

The present invention has the following beneficial effects:

Before the device is worn by the human body, the length of each rod is first adjusted to a comfortable sitting posture of the human body. After wearing the device, the human body can sit anywhere, which relieves the soreness of the muscles and joints of the lower limbs when standing for a long time, and can effectively prevent and slow down osteoarthritis of the lower limbs. , varicose veins of the lower limbs, back spasm and other diseases; when the human body needs to walk, the exoskeleton lower limb swing levers are automatically retracted when the human body gets up, and the exoskeleton and the human body walk synchronously without affecting the human body's walking. The inertial measurement unit can measure and record the sitting posture of the lower limbs of the human body, and compare it with the standard sitting posture, and can correct the bad sitting posture of the wearer.

Description of drawings

Accompanying drawing 1 is the three-dimensional structure schematic diagram when the present invention takes a seat;

Accompanying drawing 2 is the three-dimensional structure schematic diagram when the present invention stands;

Accompanying drawing 3 is the three-dimensional structure schematic diagram of seat mechanism of the present invention;

Accompanying drawing 4 is the three-dimensional structure schematic diagram of thigh mechanism of the present invention;

Accompanying drawing 5 is the three-dimensional structural schematic diagram of shank mechanism of the present invention;

Accompanying drawing 6 is the three-dimensional structure schematic diagram of support mechanism of the present invention;

Accompanying drawing 7 is the three-dimensional structure schematic diagram of the foot swing mechanism of the present invention;

Accompanying drawing 8 is the three-dimensional structure diagram of the shoe cover mechanism of the present invention.

detailed description

In order to facilitate the understanding of those skilled in the art, the present invention will be further described below in conjunction with the accompanying drawings.

As shown in accompanying drawings 1 and 2, the present invention discloses a wearable exoskeleton seat device capable of measuring the sitting posture of human lower limbs, comprising a seat mechanism 1, a shoe cover mechanism 6 and a four-bar linkage mechanism, the four-bar linkage mechanism The mechanism is composed of a thigh mechanism 2, a calf mechanism 3, a support mechanism 4 and a foot swing mechanism 5. The thigh mechanism 2 is movably connected with the seat mechanism 1 so that the thigh mechanism 2 moves toward the coronal plane of the human body, and the calf mechanism 3 is movably connected with the thigh mechanism 2. The calf mechanism 3 is moved toward the sagittal plane of the human body, the support mechanism 4 is movably connected with the thigh mechanism 2 , and the foot swing mechanism 5 is movably connected with the calf mechanism 3 and the support mechanism 4 respectively.

As shown in accompanying drawing 3, seat mechanism 1 comprises curved seat 101, waist strap 102 and seat connecting block 103, and waist strap 102 is fastened on the curved seat 101, and seat connecting block 103 top and The curved seat 101 is flexibly connected to move the seat connecting block 103 toward the sagittal plane of the human body, and the lower part of the seat connecting block 103 is flexibly connected to the thigh mechanism 2 . When in use, the human body is seated on a U-shaped seat, and the waist strap buckles the human body's waist along the human body's waist, so as to realize the flexion/stretch of the sagittal plane of the hip joint.

As shown in accompanying drawing 4, thigh mechanism 2 comprises thigh rod 201, upper thigh connecting rod 202, thigh support connecting block 203, thigh strap 204, lower thigh connecting rod 205 and thigh inertial measurement unit, upper thigh connecting rod 202 top and The seat connecting block 103 of the seat mechanism is movably connected, and the bottom is installed and connected with the thigh bar 201. The thigh support connecting block 203 and the thigh strap 204 are fixedly installed on the thigh bar 201 respectively, and the upper part of the lower connecting rod 205 of the thigh is installed with the thigh bar 201. Connection, the lower part is movably connected with the calf mechanism 3 , the thigh inertial measurement unit is embedded in the thigh rod 201 , and the thigh support connecting block 203 is movably connected with the support mechanism 4 . The lower part of the connecting rod on the upper thigh is inserted into the thigh rod and snapped and installed to form a telescopic structure, and the upper part of the connecting rod under the thigh is inserted into the thigh rod and snapped and installed to form a telescopic structure. The length can be adjusted according to needs, suitable for all kinds of people. Through the rotational connection between the connecting rod 202 on the thigh and the connecting block 103 of the seat, the thigh rod 201 can move toward the coronal plane to realize abduction/adduction of the hip joint. The thigh strap binds the human thigh. The thigh inertial measurement unit can measure the inclination posture of the thigh bar and the horizontal plane when the human body is seated, that is, the human body's thigh sitting posture.

As shown in accompanying drawing 5, shank mechanism 3 comprises shank inner bar 301, shank outer bar 302, shank upper connecting rod 303, shank swing foot connecting block 304 and shank inertial measurement unit, the lower part of shank upper connecting bar 303 and the lower leg inner bar 301 Fixed connection, the upper part is flexibly connected with the connecting rod 205 under the thigh, the inner rod 301 of the calf is installed and connected with the outer rod 302 of the lower leg, the connecting block 304 of the swing foot of the lower leg is fixedly installed on the outer rod 302 of the lower leg, and the inertial measurement unit of the calf is embedded in the inner rod of the lower leg In 301 , the leg swing connecting block 304 is movably connected with the leg swing mechanism 5 . The inner rod of the lower leg is inserted into the outer rod of the lower leg and snap-fitted to form a telescopic structure, which is convenient for length adjustment and is suitable for use. The calf inertial measurement unit can measure the inclination posture of the inner rod of the calf and the horizontal plane when the human body is seated, that is, the sitting posture of the human calf. The upper calf link and lower thigh link form a hinge joint that accommodates sagittal flexion/extension of the knee joint.

As shown in accompanying drawing 6, support mechanism 4 comprises support rod 401, pneumatic spring outer rod 402, pneumatic spring inner rod 403, support thigh connecting rod 404 and support swing rod connecting rod 406, support swing rod connecting rod 406 top and support rod 401 is fixedly connected, and the lower part is movably connected with the swing foot mechanism 5. The lower part of the pneumatic spring outer rod 402 is inserted into the support rod 401 and installed to form a telescopic structure. The lower end of the pneumatic spring inner rod 403 is movably connected with the pneumatic spring outer rod 402. The support thigh connecting rod 404 is fixedly connected, the upper part of the supporting thigh connecting rod 404 is flexibly connected with the thigh support connecting block 203 in the thigh mechanism 2, and the supporting swing rod connecting rod 406 is flexibly connected with the swinging foot mechanism 5. The inner rod 403 of the pneumatic spring is also sleeved with a linear spring 405 , the upper end of the linear spring 405 abuts against the lower surface of the connecting rod 404 supporting the thigh, and the lower end of the linear spring 405 abuts against the upper surface of the outer rod 402 of the pneumatic spring. There is a length telescopic structure between the outer rod of the pneumatic spring and the support rod, and the length can be adjusted according to needs. Pneumatic springs and linear springs form a parallel spring to support the weight of the human body. When the human body sits and compresses the two springs, the pneumatic spring provides an approximately constant support force, and the support force provided by the linear spring increases linearly with the increase of the compression length, so the two The parallel connection of the springs provides a large initial support force and a large support force after compression, which can not only provide sufficient support force for users of different weights, but also prevent the human body from falling when the initial support force is insufficient.

As shown in accompanying drawing 7, swing foot mechanism 5 comprises swing foot rod 501, swing foot support connecting rod 502 and swing foot calf connecting rod 503, one end of swing foot calf connecting rod 503 is fixedly connected with swing foot rod 501, and the other end is connected with calf The swing foot connecting block 304 is movably connected, the swing foot support connecting rod 502 is fixedly installed on the swing foot rod 501 , and the swing foot support connecting rod 502 is movably connected with the support swing rod connecting rod 406 . The installation position can be adjusted as needed.

As shown in accompanying drawing 8, shoe cover mechanism 6 comprises L-shaped sole plate 601, foot lateral velcro 602, instep velcro 603 and heel velcro 604, and the vertical side of L-shaped sole plate 601 is connected with calf. The outer rod 302 is installed and connected, the Velcro 602 on the outside of the foot is fixed on the bottom surface of the L-shaped sole plate 601, one end of the Velcro 603 on the instep is connected to the vertical side of the L-shaped sole plate 601, and the other end is pasted to the Velcro on the outside of the foot On 602, one end of the heel velcro 604 is connected with the vertical side of the L-shaped sole plate 601, and the other end is pasted on the outside velcro 602 of the foot. The hinged connection between the L-shaped sole plate and the outer calf bar increases the freedom of flexion/extension of the ankle joint. The Velcro pasted connection mode between the Velcro on the outside of the foot, the Velcro on the instep and the Velcro on the heel has the characteristics of convenience, softness, stability and reliability.

When the device of the present invention is seated, as shown in accompanying drawing 1, the swinging foot bar 501 contacts the ground simultaneously with the lower leg outer bar 302 to play a supporting role together, and the thigh bar 201 is at an inclined angle relative to the lower leg outer bar 302, The seat connection block 103 is inclined at a certain angle with the arc-shaped seat 101 . When standing, as shown in accompanying drawing 2, now seat connecting block 103, thigh bar 201 and shank outer bar 302 are in a straight line state.

When the present invention is worn, the human body is seated on a U-shaped seat, the waist strap is buckled around the waist of the human body, the thigh strap is tied to the thigh of the lower limb, the sole of the foot is stepped on the L-shaped sole plate, and the nylon strap on the back of the foot The buckle and the heel velcro respectively go around the instep and the heel and are fastened and pasted with the velcro on the outside of the foot. Adjust the length of each rod until it fits the human body.

When the present invention is used, when the human body stands for a long time with fatigue in the lower limbs and sore waist, the human body can sit anytime and anywhere, and the thigh mechanism, the calf mechanism, the support mechanism and the foot swing mechanism form a 4-link mechanism, wherein the calf mechanism and the foot swing mechanism Contact with the ground forms a ground support range, and the center of gravity of the human body falls within the support range, which can stably support the body weight. The thigh inertial measurement unit and the calf inertial measurement unit can measure and record the sitting posture of the lower limbs of the human body, compare it with the standard sitting posture, and correct the bad sitting posture of the wearer. When the human body needs to walk, when the human body gets up, the exoskeleton’s lower limb swing lever is also automatically retracted. The thigh mechanism, calf mechanism and human lower limbs walk synchronously. The support mechanism and the swing leg mechanism follow the movement inside and behind the human body, which will not affect human walking. .

It should be noted that the above description is not a limitation to the technical solution of the present invention, and any obvious replacements are within the protection scope of the present invention without departing from the inventive concept of the present invention.

Claims (10)

1. A wearable exoskeleton seat device capable of measuring the sitting posture of the lower limbs of a human body, comprising a seat mechanism and a shoe cover mechanism, characterized in that it also includes a four-bar linkage, and the four-bar linkage consists of a thigh mechanism, a shank mechanism , a support mechanism and a foot swing mechanism. The thigh mechanism is movably connected with the seat mechanism to make the thigh mechanism move toward the coronal plane of the human body. The calf mechanism is movably connected with the thigh mechanism to make the shank mechanism move toward the sagittal plane of the human body. The movable connection, the foot swing mechanism is respectively connected with the calf mechanism and the support mechanism. 2. The wearable exoskeleton seat device capable of measuring the sitting posture of the lower limbs of the human body according to claim 1, wherein the thigh mechanism includes a thigh bar, a connecting rod on the thigh, a thigh support connecting block, a thigh strap, The lower thigh connecting rod and the thigh inertial measurement unit, the upper part of the upper thigh connecting rod is movably connected with the seat mechanism, the lower part is installed and connected with the thigh rod, the thigh support connecting block and the thigh strap are fixedly installed on the thigh rod respectively, and the upper part of the lower thigh connecting rod It is installed and connected with the thigh bar, and the lower part is movably connected with the calf mechanism, the thigh inertial measurement unit is embedded in the thigh bar, and the thigh support connecting block is movably connected with the support mechanism. 3. The wearable exoskeleton seat device capable of measuring the sitting posture of the lower limbs of the human body according to claim 2, wherein the lower part of the connecting rod on the thigh is inserted into the thigh rod and snapped and installed to form a telescopic structure, and the thigh The upper part of the lower connecting rod is inserted into the thigh rod and snapped and installed to form a telescopic structure. 4. The wearable exoskeleton seat device capable of measuring the sitting posture of the lower limbs of the human body according to claim 3, wherein the shank mechanism includes a shank inner rod, a shank outer rod, a connecting rod on the shank, and a shank swing foot connection The block and calf inertial measurement unit, the lower part of the upper connecting rod of the calf is fixedly connected with the inner rod of the lower leg, the upper part is flexibly connected with the lower connecting rod of the thigh, the inner rod of the calf is installed and connected with the outer rod of the lower leg, and the connecting block of the lower leg swing foot is fixedly installed on the outer rod of the lower leg , the calf inertial measurement unit is embedded in the calf inner rod, and the calf swing foot connection block is movably connected with the foot swing mechanism. 5 . The wearable exoskeleton seat device capable of measuring the sitting posture of human lower limbs according to claim 4 , wherein the inner rod of the lower leg is inserted into the outer rod of the lower leg and snapped and installed to form a telescopic structure. 6 . 6. The wearable exoskeleton seat device capable of measuring the sitting posture of the lower limbs of the human body according to claim 5, wherein the support mechanism includes a support rod, a pneumatic spring outer rod, a pneumatic spring inner rod, and a support thigh connecting rod And the connecting rod of the supporting swing rod, the upper part of the connecting rod of the supporting swing rod is fixedly connected with the supporting rod, and the lower part is movably connected with the swing foot mechanism, the lower part of the outer rod of the pneumatic spring is inserted into the supporting rod to form a telescopic structure. It is movably connected with the outer rod of the pneumatic spring, and its upper end is fixedly connected with the supporting thigh connecting rod. 7. The wearable exoskeleton seat device capable of measuring the sitting posture of the lower limbs of the human body according to claim 6, wherein the inner rod of the pneumatic spring is further equipped with a linear spring, and the upper end of the linear spring is against the supporting thigh The lower end face of the connecting rod, the lower end of the linear spring is against the upper end face of the outer rod of the pneumatic spring. 8. The wearable exoskeleton seat device capable of measuring the sitting posture of the lower limbs of the human body according to claim 7, wherein the foot-swing mechanism comprises a foot-swing lever, a foot-swing support connecting rod and a foot-swinging calf connecting rod, One end of the swing leg connecting rod is fixedly connected with the swing rod, and the other end is movably connected with the leg swing connecting block. The swing leg support connecting rod is fixedly installed on the swing leg. connect. 9. The wearable exoskeleton seat device capable of measuring the sitting posture of the lower limbs of the human body according to claim 8, wherein the shoe cover mechanism includes an L-shaped sole plate, a Velcro on the outside of the foot, and a Velcro on the back of the foot. And the heel Velcro, the vertical side of the L-shaped sole plate is installed and connected with the outer rod of the calf, the Velcro outside the foot is fixed on the bottom surface of the L-shaped sole plate, and one end of the instep Velcro is connected to the vertical side of the L-shaped sole plate The side is connected, and the other end is pasted on the Velcro on the outside of the foot. One end of the Velcro on the heel is connected to the vertical side of the L-shaped sole plate, and the other end is pasted on the Velcro on the outside of the foot. 10. The wearable exoskeleton seat device capable of measuring the sitting posture of the lower limbs of the human body according to claim 9, wherein the seat mechanism comprises a curved seat, a waist strap and a seat connection block, and the waist strap The belt is fastened on the arc seat, the upper part of the seat connecting block is flexibly connected with the arc seat so that the seat connecting block moves toward the sagittal plane of the human body, and the lower part of the seat connecting block is connected with the upper thigh connecting rod in the thigh mechanism active connection.