CN114654449B - Active and passive combined wearable knee joint power assisting exoskeleton - Google Patents
Active and passive combined wearable knee joint power assisting exoskeleton Download PDFInfo
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- CN114654449B CN114654449B CN202210352669.1A CN202210352669A CN114654449B CN 114654449 B CN114654449 B CN 114654449B CN 202210352669 A CN202210352669 A CN 202210352669A CN 114654449 B CN114654449 B CN 114654449B
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- 210000000689 upper leg Anatomy 0.000 claims abstract description 106
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- 210000002414 leg Anatomy 0.000 claims abstract description 30
- 238000013461 design Methods 0.000 claims abstract description 27
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
Abstract
The utility model provides a passive combination wearing formula knee joint helping hand ectoskeleton of initiative, includes single leg helping hand unit, and single leg helping hand unit includes: thigh frame components; the lower leg frame assembly is hinged with the thigh frame assembly and forms a boosting point; the integrated knee joint is arranged on the power assisting point and is used for actively assisting power; a passive power assist system for providing elastic passive power assist. The invention adopts the active and passive combined modular design of the integrated electric knee joint and the mould spring module, the active power assisting part realizes intelligent power assisting according to walking, squatting and standing, and the difference of gait of going upstairs, and the passive power assisting part can ensure large moment output under specific action scenes and improve the overall power assisting efficiency. The passive power assisting part can realize nonlinear energy storage and power assisting, reduces impact on a Bowden wire and a patella when the passive energy storage module is started, prolongs the service life of the passive mould spring module, and can realize active and passive power assisting.
Description
Technical Field
The invention belongs to the technical field of power assisting devices, and particularly relates to an active-passive combined wearable knee joint power assisting exoskeleton.
Background
The exoskeleton system integrates the robot technologies such as sensing, control, information acquisition, mobile computing and the like, and is a man-machine integrated system for completing functions and tasks such as assisting walking and the like under the unconscious control of an operator.
Exoskeleton systems generally have two different applications: firstly, compensating the lost motion ability of human beings; secondly, the exercise capacity of human beings is enhanced. For the first application, the main application object of the exoskeleton system is a patient with loss of motor function due to spinal cord injury, stroke and the like. Exoskeleton is used to replace or rehabilitate the patient's motor ability in the form of aids and rehabilitation tools. For the second application, the exoskeleton system is mainly applied in the fields of industry and military, and the like, and the applications include: can enhance the strength of limbs of a person so as to lift a heavier object, strengthen the bearing capacity of the body of the person, prevent joints from being damaged, or reduce metabolism during long march.
Among the many exoskeleton systems, the exoskeleton system research for knee joint assistance is very extensive, and the main reasons for this are the following: firstly, the degree of freedom of the exoskeleton robot required by the knee joint is less, the requirement can be met by arranging a degree of freedom of rotation centering with the knee joint, secondly, the moment born by the knee joint is larger, more than 50Nm can be achieved in normal walking gait, the maximum muscle strength required for daily activities such as walking, squatting and the like can be obviously reduced by the knee joint assistance exoskeleton, and the fatigue degree of a human body is reduced. In addition, the incidence rate of the patellar arthritis in clinic is high, and the knee joint assistance exoskeleton can obviously reduce the impact on the patella, accounting for 73% of the total osteoarthritis.
The knee joint power assisting exoskeleton robot can be divided into an active power assisting mode and a passive power assisting mode according to whether a battery is used or not.
The knee joint exoskeleton with active power assist can continuously provide intelligent power assist, such as walking power assist, stair climbing power assist, motion buffering, body support and other functions according to different gait, so that muscle fatigue is reduced. However, because the knee joint needs great torque in the supporting stage, high requirements are put on a motor and a speed reducer which are required by pure active driving, and the problems of large equipment weight, insufficient power-assisted efficiency, limited cruising ability after long-time use and the like are caused.
Passive helping hand knee exoskeleton can then realize the storage and redistribution of human energy through inside elastic structure, can realize energy storage for example in squatting action to release energy when recovering standing and provide helping hand. Larger torque forces can be achieved using elastic elements that store higher energy. In addition, the passive exoskeleton does not need a motor or a battery, so that the requirement for external energy supply can be reduced, and the passive exoskeleton is not limited by the problem of cruising. However, the passive assisting exoskeleton has a single moment output mode, most of the passive assisting exoskeleton only has a linear relation with the angle of the knee joint, intelligent assistance in the active assisting mode is difficult to realize, the weight of an elastic element capable of storing high energy is also large, and if the passive assisting exoskeleton is arranged near the knee joint, additional resisting moment is formed due to the fact that the passive assisting exoskeleton is far away from the center of gravity of the waist of a human body, and the metabolic energy loss of the human body is increased.
Disclosure of Invention
In summary, how to provide an exoskeleton power assisting system capable of providing dual power assistance to achieve the combination of the advantages of the active and passive power assisting ectoskeletons is a problem to be solved by those skilled in the art.
In order to solve the problems, the invention provides the active-passive combined wearable knee joint assisting exoskeleton, which is particularly a wearable knee joint assisting exoskeleton robot which has a simple structure, accords with a human body structure and is convenient to use.
Specifically, the technical scheme of the invention is as follows:
the invention provides an active-passive combined wearable knee joint assistance exoskeleton, which comprises a single-leg assistance unit, wherein the single-leg assistance unit comprises:
a thigh frame assembly for wearing on a thigh of a human body;
a lower leg frame assembly for wearing on a lower leg of a human body, the lower leg frame assembly being hinged with the thigh frame assembly corresponding to a position of a patella of the human body and forming a booster point;
the integrated knee joint is used for providing electric active assistance, is arranged on the assistance point and is used for actively driving the rotation of the lower leg frame assembly relative to the thigh frame assembly;
The passive power assisting system comprises a cam stay wire passive module and a passive adjustable die spring energy storage module which is in power connection with the cam stay wire passive module and is used for storing energy, wherein the cam stay wire passive module is arranged on a power assisting point, the passive power assisting system can store human kinetic energy into elastic potential energy and release the stored elastic potential energy, and is used for passively driving the calf frame assembly to rotate relative to the thigh frame assembly.
Preferably, in the active-passive combined wearable knee joint power assisting exoskeleton provided by the invention, the integrated knee joint comprises a motor integrated with a speed reducer, the motor comprises a stator and a rotor, and the stator and the rotor are respectively arranged on the thigh frame assembly and the shank frame assembly.
Preferentially, in the active-passive combined wearable knee joint power assisting exoskeleton provided by the invention, limiting blocks for realizing the rotation limiting of the rotor are arranged on the stator and the rotor.
Preferably, in the active-passive combined wearable knee joint assisting exoskeleton provided by the invention, the cam stay wire passive module comprises a bowden wire guiding fixing piece and a bowden wire fixing end constraint piece, wherein the bowden wire guiding fixing piece is in linkage with the thigh frame assembly, the bowden wire fixing end constraint piece is in linkage with the shank frame assembly, the bowden wire guiding fixing piece is hinged with the end part of the bowden wire fixing end constraint piece, and the hinge shaft of the bowden wire guiding fixing piece and the bowden wire fixing end constraint piece is coaxially arranged with the hinge shaft of the assisting point; the bowden wire guiding fixing piece is provided with a bowden wire guiding block and a guiding wheel, wherein the bowden wire guiding block is used for guiding the bowden wire, the bowden wire guiding block is arranged at the tail end of the bowden wire guiding fixing piece, and the guiding wheel is arranged in the middle of the bowden wire guiding fixing piece; the hinge end of the bowden cable fixing end constraint piece is provided with a clamping groove for clamping the bowden cable, and the bowden cable fixing end constraint piece is used for fixing the bowden cable fixing end; the rotational movement of the bowden cable fixing end restraint relative to the bowden cable guide fixing element is transmitted via the bowden cable.
Preferably, in the active-passive combined wearable knee joint assisting exoskeleton provided by the invention, a cam is arranged at the hinged end of the bowden cable fixing end restraint, and the cam can be abutted against the bowden cable and is used for timely intervening in the rotation process of the lower leg frame assembly so as to increase the transmission efficiency of the bowden cable to the rotation motion of the bowden cable fixing end restraint.
Preferably, in the active-passive combined wearable knee joint assisting exoskeleton provided by the invention, the passive adjustable die spring energy storage module comprises a die spring fixing end and a die spring moving end which elastically moves relative to the die spring fixing end through a die spring, wherein the die spring moving end is connected with one end of a bowden cable and is used for storing and releasing the movement energy of the calf frame assembly through the bowden cable.
Preferentially, in the active-passive combined wearable knee joint assisting exoskeleton provided by the invention, a sliding rail is fixedly arranged relative to the fixed end of the die spring, the extending direction of the sliding rail is parallel to the extending direction of the die spring, and a sliding block which is in sliding fit with the sliding rail is arranged on the moving end of the die spring; the two die springs are symmetrically arranged on two sides of the sliding rail.
Preferentially, in the active-passive combined wearable knee joint assisting exoskeleton provided by the invention, a tensioning wire wheel and a ratchet wheel assembly are arranged on the moving end of the die spring, and the ratchet wheel assembly comprises a ratchet wheel linked with the tensioning wire wheel and a pawl matched with the ratchet wheel; the Bowden wire is connected with the tensioning wire wheel; the ratchet is also provided with a ratchet adjusting knob.
Preferentially, in the active-passive combined wearable knee joint power assisting exoskeleton provided by the invention, the active-passive combined wearable knee joint power assisting exoskeleton further comprises a binding mechanism with an isomerism design, wherein the binding mechanism comprises a combined waist strap, and the combined waist strap is connected with the thigh frame assembly through an elastic strap and a buckle; the thigh frame component comprises a thigh frame which is designed according to human engineering and is matched with the outline shape of the thigh of the human body, and a binding belt is arranged on the thigh frame; the shank frame assembly comprises a shank frame which is designed according to human engineering and is matched with the contour shape of the shank of a human body, and a binding belt is arranged on the shank frame.
Preferentially, the active-passive combined wearable knee joint assisting exoskeleton provided by the invention further comprises a main control unit and two sensors for acquiring motion control parameters during leg motions of a human body, wherein the two single-leg assisting units are arranged, the sensors are arranged on the single-leg assisting units and are in signal connection with the main control unit, and the main control unit is respectively connected with the integrated knee joint control of the two single-leg assisting units and respectively controls the two single-leg assisting units through a finite state machine algorithm.
The beneficial effects of the invention are as follows:
the invention provides an active-passive combined wearable knee joint assistance exoskeleton, which comprises a single-leg assistance unit, wherein the single-leg assistance unit comprises: a thigh frame assembly for wearing on a thigh of a human body; the lower leg frame assembly is used for being worn on the lower leg of a human body, and the lower leg frame assembly and the thigh frame assembly are hinged at the position corresponding to the patella of the human body and form a power assisting point; the integrated knee joint is used for providing electric active assistance, is arranged on an assistance point and is used for actively driving the rotation of the lower leg frame assembly relative to the thigh frame assembly; the passive power assisting system comprises a cam stay wire passive module and a passive adjustable die spring energy storage module which is in power connection with the cam stay wire passive module and is used for storing energy, the cam stay wire passive module is arranged on a power assisting point, the passive power assisting system can store human kinetic energy into elastic potential energy and release the stored elastic potential energy, and the passive power assisting system is used for realizing the passive driving of rotation of the lower leg frame component relative to the thigh frame component.
Through the structural design, the active-passive combined wearable knee joint power assisting exoskeleton provided by the invention has at least the following advantages:
1. The invention adopts the active and passive combined modular design of the integrated electric knee joint and the mould spring module, the active power assisting part realizes intelligent power assisting according to walking, deep squatting standing, semi squatting maintenance, sitting standing and different walking steps of going upstairs, the passive power assisting part can ensure large moment output under specific action scenes, the overall power assisting efficiency is improved, and the active and passive parts are completely mutually independent;
2. the passive power assisting part combines the die spring with a large elastic coefficient with the bowden cable, the cam, the guide wheel and the like to form the passive adjustable energy storage module, the outer contour of the cam is designed in an assisted mode based on a cosine motion design algorithm, nonlinear energy storage and power assisting are achieved, impact on the bowden cable and the patella when the passive energy storage module is started is reduced, and the service life of the passive die spring module is prolonged;
3. the combined waist and back belt adopts a degree of freedom heterogeneous design at the hip joint position, and is connected by utilizing the triangular shape of the front and back two pairs of flexible binding belts, so that the fixing effect on the knee joint exoskeleton is enhanced, the knee joint exoskeleton is maintained at a position where legs are relatively fixed, and the rotation center of the knee joint exoskeleton is ensured not to deviate when a human body moves. The interference to the movement of the hip joint is avoided, and certain assistance to the hip joint is realized.
Drawings
FIG. 1 is a schematic diagram of the overall structure of an active-passive wearable knee joint power assisting exoskeleton according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a single leg assist unit in an embodiment of the present invention;
FIG. 3a is a front view of a single leg assist unit in an embodiment of the invention;
FIG. 3b is a left side view of a single leg assist unit in an embodiment of the invention;
FIG. 3c is a right side view of a single leg assist unit in an embodiment of the invention;
FIG. 4a is an isometric view of a passive boosting system in an embodiment of the invention;
FIG. 4b is a front view of a passive boosting system in an embodiment of the invention;
FIG. 4c is a left side view of a passive boosting system in an embodiment of the invention;
FIG. 5a is a front view of a passive adjustable die spring energy storage module according to an embodiment of the invention;
FIG. 5b is a right side view of a passive adjustable die spring energy storage module according to an embodiment of the invention;
FIG. 5c is a rear view of a passive adjustable die spring energy storage module according to an embodiment of the invention;
FIG. 5d is a schematic diagram of the overall structure of a passive adjustable die spring energy storage module according to an embodiment of the invention;
FIG. 5e is a schematic diagram of a finished product with a shell of a passive adjustable die spring energy storage module in accordance with an embodiment of the present invention;
fig. 6 is a schematic structural view of a combined waist and back belt according to an embodiment of the present invention.
In fig. 1 to 6, the correspondence between the component names and the reference numerals is:
1 is an integrated electric knee joint, 2 is a passive power assisting system, 3 is a cable containing an electric wire and a signal wire, 4 is a bowden wire, 5 is a passive adjustable die spring energy storage module, 6 is a main control unit, 7 is a multifunctional combined back waistband, 8 is an elastic bandage, 9 is a three-point eye-splice, 10 is a shank frame, 11 is a flexible layer, 12 is an inertial measurement unit, 13 is a common eye-splice, 14 is a bandage, 15 is a motor, 16 is a rotor connecting piece, 17 is a limit block, 18 is a thigh frame, 19 is a pressure sensor, 20 is a stator connecting piece, 21 is a bowden wire guide fixing piece, 22 is a cam, 23 is a bowden wire fixing end constraint piece, 24 is a bowden wire fixing end, 25 is a bowden wire guide block in an exoskeleton, 26 is a guide wheel, 27 is a die spring moving end, 28 is a ratchet wheel, 29 is a die spring, 30 is a die spring fixing end, 32 is a slide rail, 33 is a pawl, 34 is an adjusting pawl, 35 is an energy storage pawl inner wear wire guide piece, 21 is a bowden wire guide piece, 37 is an adjustable die spring fixing piece, and a die spring fixing piece is a die set, and a die set end is a die set, 39 is a die set and a die set is a fixed.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the embodiments of the present invention will be described in further detail with reference to the accompanying drawings.
In addition, in the description of the present invention, the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", etc. indicate orientations or positional relationships based on those shown in the drawings, merely for convenience in describing the present invention, and do not require that the present invention must be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. The terms "coupled" and "connected" as used herein are to be construed broadly and may be, for example, fixedly coupled or detachably coupled; either directly or indirectly through intermediate components, the specific meaning of the terms being understood by those of ordinary skill in the art as the case may be.
Please refer to fig. 1 to 6, wherein:
FIG. 1 is a schematic diagram of the overall structure of an active-passive wearable knee joint power assisting exoskeleton according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a single leg assist unit in an embodiment of the present invention;
FIG. 3a is a front view of a single leg assist unit in an embodiment of the invention;
FIG. 3b is a left side view of a single leg assist unit in an embodiment of the invention;
FIG. 3c is a right side view of a single leg assist unit in an embodiment of the invention;
FIG. 4a is an isometric view of a passive boosting system in an embodiment of the invention;
FIG. 4b is a front view of a passive boosting system in an embodiment of the invention;
FIG. 4c is a left side view of a passive boosting system in an embodiment of the invention;
FIG. 5a is a front view of a passive adjustable die spring energy storage module according to an embodiment of the invention;
FIG. 5b is a right side view of a passive adjustable die spring energy storage module according to an embodiment of the invention;
FIG. 5c is a rear view of a passive adjustable die spring energy storage module according to an embodiment of the invention;
FIG. 5d is a schematic diagram of the overall structure of a passive adjustable die spring energy storage module according to an embodiment of the invention;
FIG. 5e is a schematic diagram of a finished product with a shell of a passive adjustable die spring energy storage module in accordance with an embodiment of the present invention;
fig. 6 is a schematic structural view of a combined waist and back belt according to an embodiment of the present invention.
The invention provides an active-passive combined wearable knee joint assisting exoskeleton which is used for realizing active assistance and passive assistance of legs of a human body.
In the prior art, knee joint power assisting equipment is either in an active power assisting mode (electric driving) or in a passive power assisting mode (mainly adopting a die spring 30 storage mode), and certain power assisting mode defects exist in the single power assisting mode.
The active-passive combined wearable knee joint assistance exoskeleton provided by the invention comprises a single-leg assistance unit, wherein the single-leg assistance unit is a component for providing assistance for a single leg of a human body. In general, a human body comprises two legs, so that the active-passive combined wearable knee joint assisting exoskeleton provided by the invention is provided with two single-leg assisting units (respectively assisting the left leg and the right leg of the human body), and the structural composition of the two single-leg assisting units is consistent. To describe the structure and construction of the single leg assist unit of the present invention in more detail, the various components that make up the active-passive wearable knee assist exoskeleton are described in detail below.
And a structural member I and a thigh frame component.
The thigh frame assembly is a structural member for fixing to the thigh of a human body by the single-leg power assisting unit, and is movable together with the thigh of the human body.
When a human body performs activities including walking, squatting, standing and the like, relative movement exists between the thigh and the calf, and for the sake of simplifying the structural description of the present invention, the relative movement between the thigh and the calf is regarded as movement of the calf relative to the thigh (the thigh is regarded as stationary) (the movement is rotational movement, that is, the calf rotates forward or backward relative to the thigh in the traveling direction, and no left-right deflection movement).
Specifically, the thigh frame assembly includes a thigh frame 18, the thigh frame 18 is designed according to ergonomics, the thigh frame 18 is a tubular frame structure, an inner space formed by the thigh frame 18 is a space with a smooth surface, and after the thigh frame 18 is worn on the thigh of a human body, the thigh frame 18 can be contacted and attached with the thigh of the human body to the greatest extent, so that the wearing comfort and the firmness of the thigh frame 18 are improved.
Of course, the present invention may further provide the flexible layer 11 (silica gel or sponge) on the inner side of the thigh frame 18, which may further enhance the wearing comfort of the thigh frame 18.
The thigh frame 18 is also provided with the binding belt 14, the binding belt 14 is provided with the common eye-splice 13, and the wearing firmness of the thigh frame 18 can be further improved by arranging the binding belt 14.
The invention has two power assisting modes of active power assisting and passive power assisting, and the two power assisting modes can be applied to the thigh frame 18, so that the thigh frame 18 at least comprises left and right thigh frame connecting plates, two thigh frame connecting plates are arranged, one thigh frame connecting plate is used for being matched with active power assisting, and the other thigh frame connecting plate is used for being matched with passive power assisting.
The specific structure of the thigh frame 18 will not be described in detail, so as to be able to be firmly worn on the thigh of a human body, and to have high comfort as an optimal structure.
In the present invention, the thigh frame 18 is made of a hard material, such as a metal material or a hard polymer material, preferably stainless steel or an aluminum alloy.
And a structural member II and a lower leg frame assembly.
From the above, the thigh frame assembly can be regarded as stationary, while the calf frame assembly is hinged to the thigh frame assembly and rotatable about a hinge axis.
The shank frame component provided by the invention is used for being worn on the shank of a human body, and the shank frame component and the thigh frame component are hinged corresponding to the position of the patella of the human body (the position of the rotating shaft of the knee joint of the human body) and form a power assisting point.
Specifically, the lower leg rest assembly comprises a lower leg rest 10, wherein the lower leg rest 10 is designed according to the human engineering, the lower leg rest 10 is of a cylindrical framework structure, and an inner space formed by the lower leg rest 10 is a space with a smooth surface.
The thigh frame 18 and the above-mentioned structural design of thigh shape can constitute good man-machine interface, and after wearing, the parcel is comprehensive to human shank, has promoted the effective conduction of power. In addition, the thigh frame 18 and the shank frame 10 have the same curved surface concave direction, which is beneficial to the rapid and convenient putting on and taking off of the user without lifting the foot. The thigh frame assembly and the constituent structural parts of the shank frame assembly are made of aluminum alloy materials, and the required strength of output torque can be met through checking, and the whole weight is lighter.
When wearing, the feet of a human body penetrate from the thigh frame 18 and pass through the shank frame 10 in sequence, then the thigh frame 18 is worn on the thigh, the shank frame 10 is worn on the shank, and finally the eye-splice is inserted to realize fixation.
The inner space formed by the shank frame 10 is a space with a smooth surface, and after the shank frame 10 is worn on the shank of a human body, the shank frame can be contacted and attached with the shank of the human body to the greatest extent, so that the wearing comfort and the wearing firmness of the shank frame 10 are improved.
Similar to the thigh frame 18 structure, the present invention may further provide a flexible layer 11 on the inner side of the thigh frame 10, which may further improve the wearing comfort of the thigh frame 10.
The shank rest 10 is also provided with the binding band 14, the binding band 14 is provided with the common eye-splice 13, and the wearing firmness of the shank rest 10 can be further improved by arranging the binding band 14.
The invention has two power assisting modes of active power assisting and passive power assisting, and the two power assisting modes can be applied to the shank rack 10, so the shank rack 10 at least comprises shank rack connecting plates which are arranged left and right, the shank rack connecting plates are arranged two, the two shank rack connecting plates are arranged left and right, one shank rack connecting plate is used for being matched with active power assisting, and the other shank rack connecting plate is used for being matched with passive power assisting.
The specific structure of the shank rack 10 will not be described in detail, so as to be capable of being firmly worn on the shank of a human body, and meanwhile, the shank rack has high comfort as an optimal structure.
The thigh frame 18 and the shank frame 10 are connected in a hinged manner, and the hinge position is defined as a power assisting point, and the hinge axis (a virtual axis) of the power assisting point is coaxial with the rotation axis of the knee joint of the human body (when the human body is worn, the human body is self-adjusted by the wearer). In particular, the articulation between the thigh frame 18 and the shank frame 10 is achieved by the end of the thigh frame web being arranged on the same side being articulated with the end of the shank frame web.
And a structural member III, and an integrated knee joint.
The integrated knee joint is a structural component for realizing active assistance in the invention, and the integrated knee joint is used for providing electric active assistance.
In the invention, the integrated knee joint is arranged on a power assisting point (specifically on a connecting plate at one side, for example, the hinge joint of a thigh connecting plate at the left side and a shank connecting plate, or the hinge joint of a thigh connecting plate at the right side and a shank connecting plate), and the integrated knee joint takes electric energy as an energy source and outputs torque through electric drive, so that the shank assembly is actively driven to rotate relative to the thigh assembly, and active power assisting is realized.
In one embodiment of the invention, the integrated knee joint includes a motor integrated with a decelerator, the motor including a stator and a rotor, the stator and the rotor being disposed on the thigh frame assembly and the calf frame assembly, respectively.
The motor is integrated with a speed reducer, so that the purposes of speed reduction and torque increase can be realized. The motor includes a rotor for power take-off. In a preferred embodiment of the present invention, the stator of the motor is fixedly mounted to the web of the thigh frame 18 (the bottom end of the thigh frame web is connected to the stator by a flange structure as the stator connecting member 20), the rotor is fixedly mounted to the web of the shank frame 10 (the upper end of the shank frame web is connected to the rotor by a flange structure as the rotor connecting member 16), wherein the rotation axis of the rotor is coaxial with the hinge axis between the thigh frame 18 and the shank frame 10 (i.e., coaxial with the rotation axis of the knee joint of the human body), and the motor outputs torque (rotational movement) upon energization to drive the shank frame assembly to rotate (swing back and forth) relative to the thigh frame assembly to achieve active assistance.
Furthermore, in order to improve the use safety of the invention, the outer side of the motor is also provided with the joint shell, and the motor is arranged in the joint shell, so that the motor can be protected, the use safety of the invention can be improved, and foreign matters are prevented from being stranded into the integrated knee joint.
In order to avoid excessive rotation of the integrated knee joint (if the integrated knee joint is excessively rotated, injury is caused to the knee joint of a human body), a limiting block 17 for realizing rotation limiting of the rotor is arranged on the stator and the rotor.
Specifically, a fixed disc is arranged relative to the stator, a rotating disc is arranged relative to the rotor, a limiting block 17 is arranged on the fixed disc, and a limiting block 17 is arranged on the rotating disc, so that the rotation limiting of the calf frame assembly is realized through the limiting effect of the two limiting blocks 17.
Of course, the present invention may also be configured to directly mount the stopper 17 to the thigh frame 18 (thigh frame link plate) and the shank frame 10 (shank frame link plate).
In the present invention, the mounting of the stator, rotor, stopper 17, etc. on the thigh frame assembly and the shank frame assembly is a preferable connection structure by bolts, but other connection forms are also applicable to the present invention.
And a structural member IV, a passive power assisting system 2.
The passive power assisting system 2 is a structural component for realizing passive power assisting in the present invention, and the passive power assisting system 2 is used for providing elastic passive power assisting.
In the invention, the passive power assisting system 2 comprises a cam stay wire passive module and a passive adjustable die spring energy storage module 5 which is in power connection with the cam stay wire passive module and is used for storing energy.
The cam pull wire passive module can be linked with the lower leg frame assembly, so that the kinetic energy of the lower leg frame assembly is transferred to the passive adjustable die spring energy storage module 5 to be stored in an elastic potential energy mode, and the kinetic energy of the lower leg frame assembly can be stored in the passive adjustable die spring energy storage module 5 when a human body squats (when the human body squats, the elastic potential energy is released to drive the lower leg frame assembly to act in the process that the human body stands in a squatting posture, and the assistance is completed), so that the elastic potential energy is released to act on the lower leg frame assembly as passive assistance kinetic energy, and the passive assistance is realized.
In the passive power assisting system 2, the bowden cable 4, namely, the brake cable is used in the present invention, and the bowden cable 4 comprises a sheath and a pull wire, wherein the end part of the sheath is fixed relative to some two structures (the thigh frame 18 and the die spring fixing end 31 in the present invention), so that the power can be transmitted through the pull wire.
The cam stay wire passive module is arranged on the power assisting point, the cam stay wire passive module can be linked with the lower leg frame assembly, the passive power assisting system 2 can store human kinetic energy into elastic potential energy and release the stored elastic potential energy, and the cam stay wire passive module is used for realizing passive driving of rotation of the lower leg frame assembly relative to the thigh frame assembly.
Specifically, the cam stay wire passive module comprises a bowden wire guiding fixing piece 21 and a bowden wire fixing end restraining piece 23, wherein the bowden wire guiding fixing piece 21 is in linkage with the thigh frame assembly, the bowden wire fixing end restraining piece 23 is in linkage with the calf frame assembly, the end part of the bowden wire guiding fixing piece 21 is hinged with the end part of the bowden wire fixing end restraining piece 23, and the hinge shaft of the bowden wire guiding fixing piece 21 and the bowden wire fixing end restraining piece 23 is coaxially arranged with the hinge shaft of the power assisting point. The bowden wire guiding and fixing member 21 is a hard plate structure, preferably a metal material, and may be a stainless steel or an aluminum alloy profile. The bowden wire guide fixing member 21 is fixedly provided on the thigh link plate so as to be capable of being interlocked with the thigh link assembly (in the present invention, the bowden wire guide fixing member 21 can be regarded as stationary). One end (upper end) of the bowden cable guide fixing element 21 is provided with a bowden cable guide block 25, the outer skin in the bowden cable 4 is fixed relative to the bowden cable guide block 25, and the pull wire in the bowden cable 4 can then pass through the bowden cable guide block 25 (a guide groove is provided on the bowden cable guide block 25, and the pull wire is slidably provided in the guide groove of the bowden cable guide block 25).
The bowden cable guide fixing piece 21 is provided with the bowden cable guide block 25 for guiding the bowden cable 4, and further is provided with the guide wheel 26, and the stay wire in the bowden cable 4 can be wound around (not 360 DEG and only contacted with part of the outer edge of the guide wheel 26) after passing through the bowden cable guide block 25, and is arranged on the guide wheel 26.
Specifically, the bowden cable guide block 25 is provided at the end (upper end) of the bowden cable guide fixing member 21, and the guide wheel 26 is provided in the middle of the bowden cable guide fixing member 21.
The hinged end of the bowden cable fixed end constraint member 23 (the upper end of the bowden cable fixed end constraint member 23 is hinged to the lower end of the bowden cable guiding and fixing member 21, and the upper end of the bowden cable fixed end constraint member 23 is the hinged end) is provided with a clamping groove for clamping the bowden cable 4 (the clamping groove is arranged on the outer edge surface of the upper end of the bowden cable fixed end constraint member 23), and the bowden cable fixed end constraint member 23 is used for fixing the fixed end of the bowden cable 4 (one end of the pull wire in the bowden cable 4). The rotational movement of the bowden cable fixed-end restraint 23 relative to the bowden cable guide mount 21 is transmitted via the bowden cable 4.
In the above structural design, the bowden cable fixed end constraint member 23 is linked with the lower leg assembly, and when a person performs squat movements, the lower leg assembly rotates relative to the thigh assembly, so that the bowden cable fixed end constraint member 23 can rotate relative to the bowden cable guiding and fixing member 21, one end of a pull wire in the bowden cable 4 is fixedly arranged on the bowden cable fixed end constraint member 23, and the pull wire can be tensioned under the movement effect of the bowden cable fixed end constraint member 23 to realize movement energy transmission.
Further, as an improvement of the present invention, the following is emphasized: the hinged end of the bowden cable fixed end restraint 23 is provided with the cam 22, the cam 22 can be abutted against the bowden cable 4 (when the motion state changes to a certain limit, the cam 22 starts to be abutted against the pull wire of the bowden cable 4, for example, the cam 22 does not abut against the pull wire of the bowden cable 4 in the first half of the squatting motion, and the cam 22 starts to be abutted against the pull wire of the bowden cable 4 when the squatting motion is performed to the second half, so as to timely intervene in the rotation process of the calf frame assembly to increase the transmission efficiency of the bowden cable 4 to the rotation motion of the bowden cable fixed end restraint 23.
Specifically, the cam 22 is biased with respect to the hinge axis of the bowden cable fixing-end constraint member 23, and when the cam 22 rotates as the bowden cable fixing-end constraint member 23 moves and comes into contact with the bowden cable 4 (wire), the bowden cable 4 can be held down by the outer edge of the cam 22 for tightening, and the transmission efficiency of the bowden cable 4 to the bowden cable fixing-end constraint member 23 can be increased due to the additionally provided cam 22 structure. By transfer efficiency (custom name) is meant the relationship between the degree to which the bowden cable 4 is tensioned and the rotational movement of the fixed end constraint, for example: the bowden cable 4 is tensioned 1N per 1 ° rotation of the fixed end constraint rotational movement when the bowden cable 4 is not in contact with the cam 22; when the bowden cable 4 is in contact with the cam 22, the fixed end constraint continues to rotate, after which the bowden cable 4 is tensioned with a force greater than 1N per 1 ° of rotation of the fixed end constraint rotational movement. The cam 22 is provided, so that the passive power assisting system 2 can start intervention power assisting when the motion amplitude of the human body is larger than a certain limit. The numerical description above is for illustration only and does not represent actual data.
The passive adjustable die spring energy storage module 5 comprises a die spring fixing end 31 and a die spring moving end 27 which elastically moves relative to the die spring fixing end 31 through a die spring 30, wherein the die spring moving end 27 is connected with one end of a bowden cable 4 (the other end of the bowden cable 4 is used for storing and releasing the movement energy of the calf frame assembly through the bowden cable 4.
The invention is also provided with the wear-resistant Bowden wire guide block 35 in the energy storage module on the die spring fixed end 31, which is used for realizing the guide of the stay wire in the Bowden wire 4. In addition, the die spring fixing end 31 is also provided with an adjustable die spring energy storage module fixing binding member 37, the adjustable die spring energy storage module fixing binding member 37 is of a U-shaped clip structure, and the combined waistband 7 can be provided with a clamping member for clamping and fixing the adjustable die spring energy storage module fixing binding member 37.
Further, a slide rail 32 is fixedly provided with respect to the die spring fixing end 31 (specifically, the slide rail 32 is fixedly provided to the die spring fixing end 31 by a slide rail fixing member 36), an extending direction of the slide rail 32 is parallel to a telescoping direction of the die spring 30, and a slider 39 slidably fitted with the slide rail 32 is provided on the die spring moving end 27 (the slider 39 is fixedly connected with the die spring moving end connecting member 40 by a slider, and the slider and the die spring moving end connecting member 40 are a connecting member fixedly provided on the die spring moving end 27). The die spring moving end 27 is mounted to the die spring fixing end 31 through the cooperation of the slide rail 32 and the slide block 39, so that the reciprocating movement of the die spring moving end 27 along a set path can be ensured. Based on the above structure, in this embodiment, two mold springs 30 are set, and two mold springs 30 are symmetrically disposed on two sides of the slide rail 32, where the two mold springs 30 are set to balance the stress of the moving end 27 of the mold spring, so as to improve the stability of the passive adjustable mold spring energy storage module 5.
The pull wire of the bowden cable 4 is fixed to the moving end 27 of the die spring, and in order to be able to adjust the pull wire tension of the bowden cable 4, the invention provides a take-up pulley 38 and a ratchet assembly. The ratchet assembly comprises a ratchet 28 which is linked with a tensioning wire wheel 38 and a pawl 33 which is matched with the ratchet 28, and the Bowden wire 4 is connected with the tensioning wire wheel 38. In order to facilitate the rotation adjustment of the ratchet 28, the ratchet 28 of the present invention is further provided with a ratchet adjustment knob 29.
Further, in order to facilitate the adjustment of the pawl 33, the present invention further provides a pawl adjustment knob 34 on the pawl 33.
And fifthly, assembling the waist and back strap.
The combined waist belt is a component for ensuring the reliable wearing of the single-leg power-assisted unit, the structure of the combined waist belt is not specifically described, so that the wearing firmness of the single-leg power-assisted unit can be improved, and the combined waist belt is comfortable to wear.
Specifically, the combination lumbar strap is connected to the thigh frame assembly by means of an elastic strap 8 and a three-point eye-splice 9.
The multifunctional combined back waistband 7 comprises a brace, a waist seal, a front pair of elastic straps 8, a rear pair of elastic straps 8 and a three-point type eye-splice 9, wherein the brace and the waist seal enable the shoulder and the waist to share the gravity of a part of exoskeleton respectively, and the flexible straps 14 and the three-point type eye-splice are connected in a triangle shape, so that the fixing effect on the knee exoskeleton can be enhanced, the knee exoskeleton can be maintained at a position where legs are relatively fixed, and the rotation center of the knee exoskeleton is not deviated when a human body moves. The interference to the movement of the hip joint is avoided, and certain assistance to the hip joint is realized. In addition, the three-point type eye-splice is convenient to unlock, and is beneficial to users to put on and take off.
And a structural member six and a control system.
The control system is a system for realizing intelligent control in the active power assisting process.
Specifically, the control system includes a main control unit 6 (microcontroller) and sensors for acquiring motion control parameters during the leg movements of the human body. The control parameters include the pressure value of the thigh and the shank of the human body, the inertia during movement, the movement speed of the shank frame assembly and the like.
In the invention, two single-leg power assisting units are arranged, sensors are arranged on the single-leg power assisting units and are in signal connection with a main control unit 6, and the main control unit 6 is respectively connected with the integrated knee joints of the two single-leg power assisting units and respectively controls the two single-leg power assisting units through a finite state machine algorithm.
The cam pull wire passive module can achieve the corresponding relation between the knee joint rotation angle and the pull wire extension length, so that the remote passive adjustable die spring energy storage module 5 is pulled. The cam stay wire passive module consists of a cam 22, a bowden cable 4, a guide wheel 26 and a bowden cable guide block 25 which is wear-resistant in the exoskeleton. The cam 22 is made of aluminum alloy with the surface subjected to oxidation treatment, so that the wear resistance degree of the cam is guaranteed, the outer contour of the cam 22 is designed in an auxiliary way based on a cosine motion design algorithm, the algorithm aims to reduce the impact on the Bowden wire 4 when the passive energy storage module is triggered, the service life of the Bowden wire 4 is prolonged, and nonlinear energy storage and power assistance are realized, so that the impact on the patella is reduced.
The cosine motion design algorithm specifically refers to: the cam is structurally designed based on the requirement for cosine acceleration of the cam.
The bowden cable 4, namely a brake cable, is composed of high-hardness high-carbon steel wire bundles, a wear-resistant polytetrafluoroethylene inner tube and a polyvinyl chloride outer tube, is extremely strong in toughness and not easy to bend, can realize effective transmission of tensile force, and the wear-resistant bowden cable guide blocks 25 in the guide wheels 26 and the exoskeleton are used for restraining the trend of the bowden cable 4.
The passive adjustable die spring energy storage module 5 is composed of a die spring 30, a die spring fixed end 31, a die spring moving end 27, a ratchet 28, a pawl 33, a slide rail 32, a slide block 39, a tensioning wire wheel 38 and the like. When the knee joint rotates, tension is transmitted to a tensioning wire wheel 38 in the energy storage module of the remote adjustable die spring 30 through the Bowden wire 4, the tensioning wire wheel 38 is connected with the die spring moving end 27 and a sliding block 39, and the sliding block 39 is matched with the sliding rail 32 to drive the die spring 30 to compress so as to store energy of the die spring 30. The ratchet 28 is coaxial with the tensioning wire wheel 38, and the tensioning force can be adjusted by matching with the pawl 33, so that the rigidity of the energy storage and output force of the die spring 30 can be adjusted.
The control system comprises a main control unit 6 and a cable 3 (electric wire and signal wire), and specifically comprises a battery (storage battery), a switch, a controller, an electric wire and signal wire. The battery is used for supplying power to the exoskeleton integrated electric knee joint 1, the signal acquisition device and the controller (the main control unit 6), a control algorithm based on a finite state machine is written in the controller (the main control unit 6), and the control algorithm is used for carrying out state judgment and controlling real-time moment output according to the real-time angle and speed data of the motor encoder and the thigh inertia measurement unit, so that independent intelligent assistance of the left leg and the right leg can be realized. The electric wire and the signal wire are integrated in the corrugated pipe, so that the electric wire and the signal wire are prevented from being exposed.
The active-passive combined wearable knee joint assistance exoskeleton provided by the invention adopts an active-passive combined modularized design of the integrated electric knee joint 1 and the die spring 30 (die spring module), the active part realizes intelligent assistance according to walking, squatting and standing, semi-squatting and standing, sitting and standing, the passive part ensures large moment output of specific actions, the overall assistance efficiency is improved, and the active part and the passive part are in modularized design, so that complete independence among the modules is realized. In addition, the passive part utilizes the die spring 30 with a large elastic coefficient to be combined with the Bowden wire 4, the cam 22, the guide wheel 26 and the like to form a passive adjustable energy storage module, the outer contour of the cam 22 is designed in an auxiliary mode based on a cosine motion design algorithm, nonlinear energy storage and power assistance are realized, impact on the Bowden wire 4 and the patella when the passive energy storage module is started is reduced, and the service life of the passive die spring 30 (die spring module) is prolonged.
The binding mechanism does not carry out degree of freedom isomorphic design according to the traditional three degrees of freedom (flexion and extension, inward extension and inward rotation) at the hip joint position, but carries out degree of freedom heterogeneous design by utilizing the triangular connection of the front elastic binding belt and the rear elastic binding belt 8, so that the fixing effect on the knee joint exoskeleton is enhanced, the knee joint exoskeleton is maintained at a position where legs are relatively fixed, the rotation center of the knee joint exoskeleton is not deviated during the movement of a human body, the hip joint is allowed to carry out three degrees of freedom movement, certain assistance is realized on the hip joint, and the three-point type eye-splice 9 is adopted to facilitate the wearing and the taking off of a user.
For the design of the binding mechanism, the exoskeleton strictly designed according to the number of degrees of freedom of a single joint and the axis belongs to isomorphic design, and other types of exoskeletons with less degrees of freedom or different concentricity are heterogeneous design. The elastic binding mechanism is used in the invention, and is not strictly designed according to three degrees of freedom of the hip joint (therefore, the three degrees of freedom of the hip joint are called as heterogeneous design), but the elastic binding mechanism can meet the movement requirement of the three degrees of freedom of the hip joint, the knee joint part is fixed, and even the elasticity of the elastic binding mechanism can realize a certain degree of assistance to the hip joint.
The invention provides an active-passive combined wearable knee joint assistance exoskeleton, which comprises a single-leg assistance unit, wherein the single-leg assistance unit comprises: a thigh frame assembly for wearing on a thigh of a human body; the lower leg frame assembly is used for being worn on the lower leg of a human body, and the lower leg frame assembly and the thigh frame assembly are hinged at the position corresponding to the patella of the human body and form a power assisting point; the integrated knee joint is used for providing electric active assistance, is arranged on an assistance point and is used for actively driving the rotation of the lower leg frame assembly relative to the thigh frame assembly; the passive power assisting system 2 is used for providing elastic passive power assistance, the passive power assisting system 2 comprises a cam stay wire passive module and a passive adjustable die spring energy storage module 5 which is in power connection with the cam stay wire passive module and is used for storing energy, the cam stay wire passive module is arranged on a power assisting point, the passive power assisting system 2 can store human kinetic energy into elastic potential energy and release the stored elastic potential energy, and the passive power assisting system 2 is used for realizing the rotation of a passive driving lower leg frame component relative to a thigh frame component.
Aiming at the structural defect of the exoskeleton in the prior art, the invention provides an active-passive combined wearable knee joint assisting exoskeleton, which is different from the prior art in that:
(1) The invention adopts a modularized design combining active and passive, utilizes the cooperation of the integrated electric knee joint 1 and the die spring 30 (die spring module) with large elastic coefficient, is suitable for the scene of long-time walking, half squatting and squatting operation, gives enough assistance when a human body walks and squats through the energy storage function of the die spring 30, has obvious assistance effect especially when squatting, ensures the applicability of the scene of large moment output, and improves the assistance efficiency. In addition, the passive power assisting does not need any energy source, so that the battery endurance time is greatly prolonged, the weight of the motor 15 is greatly reduced, the extra resistance moment of the knee joint exoskeleton to a human body is reduced, the whole structure is compact, and the device is reliable and portable.
(2) The passive power assisting part of the invention combines the die spring 30 with large elastic coefficient, the Bowden wire 4 structure, the cam 22, the guide wheel 26 and the like into a passive energy storage module, and the outer contour of the cam 22 is designed in an auxiliary way based on a cosine motion design algorithm, thereby realizing energy storage and redistribution of human body. By non-linear energy storage and assistance, the impact on the bowden cable 4 and the patella when energy storage is started is reduced, and the service life of the passive mold spring 30 (mold spring module) is prolonged.
(3) The invention combines the data of the inertia measuring unit 12, the pressure sensor 19 and the integrated electric knee joint 1 encoder which are arranged at the thigh position, realizes independent intelligent assistance of the left leg and the right leg based on a finite state machine algorithm, can realize intelligent assistance according to the steps when walking, squatting and standing, standing in a sitting position and ascending stairs, and greatly improves the adaptability of the exoskeleton to the normal gait and the action of the human body.
(4) The passive part variable stiffness die spring 30 (die spring module) is arranged separately from the knee joint, and is connected through the bowden cable 4 to realize flexible transmission, so that a complex transmission mechanism is not needed, the weight of the lower limb bones is greatly reduced, the structure is compact, the passive part variable stiffness die spring is concentrated near the center of gravity of a human body, no additional resistance moment exists, unnecessary human metabolism consumption is reduced, and compared with a traditional exoskeleton robot, the passive part variable stiffness die spring is more comfortable to wear by the human body.
(5) The active and passive parts of the knee joint are completely independent of each other, can be assembled and disassembled by themselves according to the needs, have no influence on the boosting effect of the respective parts after the assembly and disassembly, and have higher use flexibility.
(6) The binding mechanism adopts a degree of freedom heterogeneous design at the hip joint position, and utilizes the triangular connection of the front and rear pairs of flexible binding bands 14, so that the fixing effect on the knee joint exoskeleton is enhanced, the knee joint exoskeleton is maintained at a position where the legs are relatively fixed, and the rotation center of the knee joint exoskeleton is ensured not to deviate when a human body moves. The invention avoids the interference to the movement of the hip joint and realizes certain assistance to the hip joint.
Through the structural design, the active-passive combined wearable knee joint power assisting exoskeleton provided by the invention has at least the following advantages:
1. the invention adopts the active and passive combined modular design of the integrated electric knee joint 1 and the mould spring 30 (mould spring module), the active assistance part realizes intelligent assistance according to walking, squatting and standing, semi-squatting and maintaining, sitting and standing, and the difference of gait of going up stairs, the passive assistance part can ensure large moment output under specific action scenes, the overall assistance efficiency is improved, and the active and passive parts are completely independent;
2. the passive boosting part of the invention combines the die spring 30 with large elastic coefficient with the Bowden wire 4, the cam 22, the guide wheel 26 and the like to form the passive adjustable energy storage module, the outer contour of the cam 22 is designed in an auxiliary way based on a cosine motion design algorithm, thereby realizing nonlinear energy storage and boosting, reducing the impact on the Bowden wire 4 and the patella when the passive energy storage module is started, and prolonging the service life of the passive die spring 30 (die spring module);
3. the binding mechanism (namely the combined waist and back belt) adopts a degree of freedom heterogeneous design at the hip joint position, and is connected by utilizing the triangular shape of the front and back pair of flexible binding belts 14, so that the fixing effect on the knee joint exoskeleton is enhanced, the knee joint exoskeleton is maintained at a position where legs are relatively fixed, and the rotation center of the knee joint exoskeleton is ensured not to deviate when a human body moves. The interference to the movement of the hip joint is avoided, and certain assistance to the hip joint is realized.
It will be appreciated by those skilled in the art that the present invention can be carried out in other embodiments without departing from the essential or essential characteristics thereof. Accordingly, the above disclosed embodiments are illustrative in all respects, and not exclusive. All changes that come within the scope of the invention or equivalents thereto are intended to be embraced therein.
Claims (5)
1. The utility model provides a passive combination wearing formula knee joint helping hand ectoskeleton, its characterized in that includes single leg helping hand unit, single leg helping hand unit includes:
a thigh frame assembly for wearing on a thigh of a human body;
a lower leg frame assembly for wearing on a lower leg of a human body, the lower leg frame assembly being hinged with the thigh frame assembly corresponding to a position of a patella of the human body and forming a booster point;
the integrated knee joint is used for providing electric active assistance, is arranged on the assistance point and is used for actively driving the rotation of the lower leg frame assembly relative to the thigh frame assembly;
the passive power assisting system is used for providing elastic passive power and comprises a cam stay wire passive module and a passive adjustable die spring energy storage module which is in power connection with the cam stay wire passive module and is used for storing energy, the cam stay wire passive module is arranged on the power assisting point, the passive power assisting system can store human kinetic energy into elastic potential energy and release the stored elastic potential energy, and the passive power assisting system is used for realizing passive driving of rotation of the lower leg frame assembly relative to the thigh frame assembly;
The cam stay wire passive module comprises a bowden wire guiding fixing piece and a bowden wire fixing end restraining piece, wherein the bowden wire guiding fixing piece is in linkage with the thigh frame assembly, the bowden wire fixing end restraining piece is in linkage with the shank frame assembly, the bowden wire guiding fixing piece is hinged with the end part of the bowden wire fixing end restraining piece, and a hinge shaft of the bowden wire guiding fixing piece and the bowden wire fixing end restraining piece is coaxially arranged with a hinge shaft of the power assisting point;
the bowden wire guiding fixing piece is provided with a bowden wire guiding block and a guiding wheel, wherein the bowden wire guiding block is used for guiding the bowden wire, the bowden wire guiding block is arranged at the tail end of the bowden wire guiding fixing piece, and the guiding wheel is arranged in the middle of the bowden wire guiding fixing piece;
the hinge end of the bowden cable fixing end constraint piece is provided with a clamping groove for clamping the bowden cable, and the bowden cable fixing end constraint piece is used for fixing the bowden cable fixing end;
the rotational movement of the bowden cable fixed end restraint relative to the bowden cable guide mount is transmitted by the bowden cable;
a cam is arranged at the hinged end of the bowden cable fixed end restraint, and can be propped against the bowden cable and used for timely intervening in the rotation process of the lower leg frame assembly so as to increase the transmission efficiency of the bowden cable to the rotation motion of the bowden cable fixed end restraint;
The passive adjustable die spring energy storage module comprises a die spring fixed end and a die spring moving end which moves elastically relative to the die spring fixed end through a die spring, wherein the die spring moving end is connected with one end of a bowden cable and is used for storing and releasing the movement energy of the lower leg frame assembly through the bowden cable;
a sliding rail is fixedly arranged relative to the fixed end of the die spring, the extending direction of the sliding rail is parallel to the extending direction of the die spring, and a sliding block in sliding fit with the sliding rail is arranged on the moving end of the die spring;
the two die springs are symmetrically arranged on two sides of the sliding rail;
a tensioning wire wheel and a ratchet wheel assembly are arranged on the moving end of the die spring, and the ratchet wheel assembly comprises a ratchet wheel linked with the tensioning wire wheel and a pawl matched with the ratchet wheel;
the Bowden wire is connected with the tensioning wire wheel;
the ratchet is also provided with a ratchet adjusting knob.
2. The active-passive combination wearable knee joint power assisting exoskeleton of claim 1,
the integrated knee joint comprises a motor integrated with a speed reducer, the motor comprises a stator and a rotor, and the stator and the rotor are respectively arranged on the thigh frame assembly and the shank frame assembly.
3. The active-passive combination wearable knee joint power assisting exoskeleton of claim 2,
and limiting blocks for realizing rotation limiting of the rotor are arranged on the stator and the rotor.
4. The active-passive combination wearable knee joint power assisting exoskeleton of claim 1,
also comprises a binding mechanism with heterogeneous design, the binding mechanism comprises a combined waist and back belt, the combined waist and back belt is connected with the thigh frame component through an elastic binding belt and a buckle;
the thigh frame component comprises a thigh frame which is designed according to human engineering and is matched with the outline shape of the thigh of the human body, and a binding belt is arranged on the thigh frame;
the shank frame assembly comprises a shank frame which is designed according to human engineering and is matched with the contour shape of the shank of a human body, and a binding belt is arranged on the shank frame.
5. The active-passive combination wearable knee joint power-assisted exoskeleton of any one of claims 1 to 4,
the single-leg power assisting device comprises a main control unit, a single-leg power assisting unit, a sensor and a finite state machine algorithm, wherein the main control unit and the sensor are used for acquiring motion control parameters during the action of human legs, the single-leg power assisting unit is provided with two sensors, the sensors are arranged on the single-leg power assisting unit and are in signal connection with the main control unit, and the main control unit is respectively connected with two integrated knee joints of the single-leg power assisting unit and respectively controls the two single-leg power assisting units through the finite state machine algorithm.
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| CN115137618B (en) * | 2022-07-06 | 2025-08-22 | 西安石油大学 | A wearable lower limb exoskeleton rehabilitation and assistance robot |
| CN115556073B (en) * | 2022-10-17 | 2024-06-04 | 国家电网有限公司 | Unpowered exoskeleton for assisting tower climbing |
| CN115847375B (en) * | 2022-11-08 | 2024-10-01 | 北京精密机电控制设备研究所 | Active and passive modularized knee joint power assisting and protecting exoskeleton mechanical structure |
| CN116394297A (en) * | 2023-03-20 | 2023-07-07 | 北京工业大学 | Load device for complex terrain-oriented self-adaptive passive wearable hemodialysis machine |
| CN117549281A (en) * | 2023-11-17 | 2024-02-13 | 中国船舶集团有限公司第七一九研究所 | A wearable intelligent exoskeleton assistive device |
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