CN115366075B - An exoskeleton with adjustable movement posture - Google Patents
An exoskeleton with adjustable movement posture Download PDFInfo
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- CN115366075B CN115366075B CN202210906234.7A CN202210906234A CN115366075B CN 115366075 B CN115366075 B CN 115366075B CN 202210906234 A CN202210906234 A CN 202210906234A CN 115366075 B CN115366075 B CN 115366075B
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- 230000033001 locomotion Effects 0.000 title claims description 12
- 230000009193 crawling Effects 0.000 claims abstract description 39
- 230000007246 mechanism Effects 0.000 claims abstract description 32
- 210000003141 lower extremity Anatomy 0.000 claims abstract description 23
- 210000001364 upper extremity Anatomy 0.000 claims abstract description 20
- 230000009471 action Effects 0.000 claims abstract description 16
- 210000003128 head Anatomy 0.000 claims description 22
- 238000000034 method Methods 0.000 claims description 19
- 230000008569 process Effects 0.000 claims description 18
- 210000003414 extremity Anatomy 0.000 claims description 16
- 230000000712 assembly Effects 0.000 claims description 14
- 238000000429 assembly Methods 0.000 claims description 14
- 238000009434 installation Methods 0.000 claims description 9
- 210000001061 forehead Anatomy 0.000 claims description 6
- 230000035939 shock Effects 0.000 claims description 4
- 239000007779 soft material Substances 0.000 claims description 3
- 238000001179 sorption measurement Methods 0.000 claims description 3
- 238000007667 floating Methods 0.000 claims description 2
- 210000004556 brain Anatomy 0.000 claims 1
- 230000007306 turnover Effects 0.000 abstract description 31
- 238000012549 training Methods 0.000 abstract description 17
- 230000036544 posture Effects 0.000 abstract description 10
- 206010008129 cerebral palsy Diseases 0.000 description 12
- 238000013016 damping Methods 0.000 description 8
- 101000623895 Bos taurus Mucin-15 Proteins 0.000 description 3
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- 238000012986 modification Methods 0.000 description 3
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- 206010038743 Restlessness Diseases 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
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- 210000002414 leg Anatomy 0.000 description 2
- 230000036651 mood Effects 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 210000005036 nerve Anatomy 0.000 description 2
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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
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention belongs to the technical field of exoskeletons, in particular to an exoskeletons capable of adjusting action postures, which comprises a human exoskeletons, the human exoskeleton comprises a back component, wherein two upper limb components are symmetrically arranged on the upper part of the back component, and two lower limb components are symmetrically arranged on the lower part of the back component. The exoskeleton further comprises an auxiliary frame, wherein a turnover mechanism is arranged on the upper portion of the auxiliary frame, the back component is connected with the turnover mechanism, and the turnover mechanism can control the exoskeleton of the human body to turn to a vertical walking position and also can control the exoskeleton of the human body to turn to a crawling walking position. The whole human exoskeleton is connected with the turnover mechanism arranged on the auxiliary frame, after the human exoskeleton is worn, the turnover mechanism can support the whole human exoskeleton to keep a standing state, a user can walk and train the whole human exoskeleton, the turnover mechanism can enable the human exoskeleton to turn to a crawling state, and the user can conduct crawling training at the moment, so that different training requirements of the user can be met through changing forms.
Description
Technical Field
The invention belongs to the technical field of exoskeletons, and particularly relates to an exoskeletons capable of adjusting action postures.
Background
The existing exoskeleton assisting the rehabilitation of the human body can assist the human body to perform stepping training, walking training and the like, for cerebral palsy children, the cerebral palsy children cannot undergo the growth processes of turning over, crawling, walking and the like as normal children, and for patients, the earlier intervention treatment is performed, the better the rehabilitation effect is, the state of the normal person can be finally recovered, and researches find that crawling has great benefits for babies, can exercise the coordination ability of the bodies, stimulate the vestibular function of the babies, promote the development of sense organs and the like. Although the patient does not have complete crawling ability, scientific auxiliary training is necessary, and if crawling training is missed or crawling is not learned at a proper age, optimal intervention treatment opportunity is missed, and the difficulty of recovering the patient to a normal person state is increased. Therefore, development of an exoskeleton suitable for cerebral palsy crawling training is needed.
Disclosure of Invention
The invention aims to provide an exoskeleton capable of adjusting action postures, and the comprehensive requirements of cerebral palsy infants on crawling training and walking training are met by switching posture modes of human exoskeleton.
In order to achieve the aim, the exoskeleton with the adjustable action posture comprises a human exoskeleton, wherein the human exoskeleton comprises a back component, two upper limb components are symmetrically arranged on the upper part of the back component, and two lower limb components are symmetrically arranged on the lower part of the back component. The exoskeleton further comprises an auxiliary frame, wherein a turnover mechanism is arranged on the upper portion of the auxiliary frame, the back component is connected with the turnover mechanism, and the turnover mechanism can control the exoskeleton of the human body to turn to a vertical walking position and also can control the exoskeleton of the human body to turn to a crawling walking position.
In the above technical scheme, the whole human exoskeleton is connected with the turnover mechanism arranged on the auxiliary frame, after the human exoskeleton is worn, the turnover mechanism can support the whole human exoskeleton to keep a standing state, a user can step and walk to train at the moment, the turnover mechanism can also enable the human exoskeleton to turn to a crawling state, and the user can perform crawling training at the moment, so that different training requirements of the user can be met through changing forms.
As the preferable scheme, the back subassembly passes through elastic telescoping mechanism and connects tilting mechanism, and when human exoskeleton was in vertical walking position, elastic telescoping mechanism made back subassembly laminating tilting mechanism, and when human exoskeleton was in the walking position of crawling, elastic telescoping mechanism made back subassembly keep away from tilting mechanism, and whole human exoskeleton was in vertical floating state simultaneously. When the human exoskeleton is overturned from the vertical walking position to the crawling walking position, the elastic telescopic mechanism can deform under the gravity of the back component and the human exoskeleton, so that a section of downward displacement is provided for the back component, the human exoskeleton contacts the ground in addition to the weight of the human body, and at the moment, the elastic telescopic mechanism can bear most of the weight, so that the load of the upper limb component and the lower limb component of the human exoskeleton is reduced, and the impact force of the human exoskeleton and the ground can be reduced.
The back component comprises a connecting plate connected with an elastic telescopic mechanism, and further comprises a back plate below the connecting plate, wherein the back plate consists of an upper back plate of a shoulder and a lower back plate of a waist, the front middle parts of the upper back plate and the lower back plate are respectively hinged with the back middle parts of the connecting plate through hinge components, the axis of a hinge shaft of the hinge components is positioned above the human vertebra and extends along the direction from the shoulder to the hip, the back component further comprises a telescopic rod component I and a telescopic rod component II, the upper ends of the telescopic rod component I and the telescopic rod component II are respectively hinged with the connecting plate, the lower back plate and the upper back plate are respectively hinged, and the telescopic rod component I and the telescopic rod component II can respectively control the lower back plate and the upper back plate to deflect around the hinge shaft. The backplate is fixed human waist back through the structure of holding that its back set up to bear the most weight of human body, at human natural crawling in-process, the action of crawling can accompany the twisting of back, go up backplate and lower backplate through setting up mutual independence, and with its articulated setting, still can increase the flexibility of backplate when satisfying the bearing demand, make it deflect along with waist back, and under telescopic link assembly I and telescopic link assembly II's control, go up backplate and lower backplate and can passively deflect, consequently this exoskeleton can realize the purpose that the active control user waist back deflected, thereby the auxiliary user carries out more true training of crawling.
The back assembly further comprises four mounting arms which are in one-to-one correspondence with each upper limb assembly and each lower limb assembly, the four mounting arms are respectively positioned at the front part and the rear part of the back assembly and are used for mounting the upper limb assemblies and the lower limb assemblies, the rear ends of the mounting arms are hinged with a back plate, the front ends of the mounting arms are connected with the corresponding upper limb assemblies or lower limb assemblies, a damping assembly which provides elastic traction force or elastic resistance for each mounting arm is arranged on the back plate, and the mounting arms can deflect towards the back direction relative to the back assembly around the hinge axis of the rear ends under the limitation of the damping assembly. The mounting arm of the structure has a certain degree of freedom, the shock absorption component can buffer the ground impact force born by the skeleton of the human body in the crawling process through upward deflection, in addition, in the natural crawling process, in order to adjust the gravity center of the body to keep balance, along with the deflection of the waist and the back, the limbs can lift up, when the upper backboard or the lower backboard deflects, the limbs on the lifting side are normally lifted, and the limbs on the lowering side deflect relatively with the backboard through the mounting arm to keep the state of the limbs on the lowering side from being influenced by the deflection process.
As the preferable scheme, the auxiliary frame lower part is four walking wheels of rectangle distribution, and whole auxiliary frame relies on four walking wheels to remove on ground. In the crawling walking training and the vertical walking process, the whole equipment adaptively moves along with the walking action, so that a user can feel the connection between the limb movement and the movement of the human body, and the training effect is more beneficial to improvement.
As the preferable scheme, the upper limb component and the lower limb component are both provided with binding band components at one side close to the human body, the binding band components are connected with the limb components through an adsorption or adhesion or clamping movable structure, and the binding force of the movable structure is 10-20N. The user may be reputed to use the device and if the user is restless during use, the strap assembly will automatically disengage from the limb assembly when the force of his limb reaches the binding force of the movable structure, thereby avoiding further loss of control of the user's mood. At the same time, the use of such releasable removable structure mounting strap assemblies also facilitates the quick donning of the exoskeleton.
As a preferred scheme, the lower limb assembly comprises a pedal device at the lowest part, a pedal area of the pedal device for pedal is made of soft materials, the pedal area deforms downwards and contacts the ground in the pedal process, each pedal is accompanied with the perception of the foot to the ground, a user has real walking experience, foot nerves are stimulated by loading the foot, and the aim of exercising the control capacity of the user on the muscle groups of the foot is fulfilled.
Preferably, the human exoskeleton further comprises a head positioning component arranged at the upper part of the back component, the crawler can not control the head to act independently in normal crawling process, and the neck needs enough force to keep the head in a forward state in crawling process, in the scheme, the head positioning component is provided with a hindbrain positioning part for determining the head position, and the human exoskeleton further comprises a forehead positioning part for positioning the head, and the forehead positioning part and the head positioning part work together to keep the head of the user facing forward, so that the head of the user keeps a correct crawling posture.
The upper limb assembly and the lower limb assembly each comprise an upper connecting arm and a lower connecting arm, wherein the upper connecting arm is connected with a back assembly through a first joint assembly, the lower connecting arm is connected with the upper connecting arm through a second joint assembly, the first joint assembly comprises a spherical outer joint, a concentric spherical inner joint is movably arranged in the outer joint, an avoidance opening is formed in the lower portion of the outer joint along the width direction of a human exoskeleton, the upper connecting arm penetrates through the avoidance opening and is connected with the inner joint, the outer joint is driven by a first joint assembly driving motor arranged along the width direction of the human exoskeleton, the rotating shaft axis of the first joint assembly driving motor penetrates through the sphere center of the spherical outer joint and controls the outer joint to rotate forwards or backwards, the first joint assembly further comprises a side electric telescopic rod capable of pushing the upper connecting arm to swing leftwards and rightwards under the limitation of the avoidance opening and the inner joint, and the lower connecting arm can swing forwards and backwards under the control of the second joint assembly. The upper connecting arm is connected with the inner joint arranged in the spherical cavity inside the outer joint, the avoidance opening which can only enable the upper connecting arm to swing left and right is arranged on the outer joint, when the outer joint is driven by the first joint component driving motor to rotate, the upper connecting arm moves along with the outer joint under the limiting action of the avoidance opening, namely swings back and forth, the arranged side electric telescopic rod can control the upper connecting arm to swing left and right under the limiting of the inner joint and the outer joint through expansion and contraction, and the joint structure of the lower connecting arm is closer to the spherical joint structure of a human body because the movement of the outer joint and the inner joint surrounds a spherical center, so that the leg action can be better controlled.
The inner joint is provided with a built-in space, the upper connecting arm is provided with a belt cavity penetrating through the inner part in the length direction, the belt cavity is communicated with the built-in space of the inner joint, the second joint assembly comprises a second joint assembly driving motor arranged in the built-in space and an upper belt pulley driven by the second joint assembly driving motor, the second joint assembly further comprises a hinge part at the upper part of the lower connecting arm, the upper end of the hinge part is provided with a U-shaped installation space, a lower belt pulley is arranged in the installation space, the whole hinge part is movably installed at the lower part of the upper connecting arm through an installation shaft coaxial with the belt pulley, the lower belt pulley is fixedly installed relative to the hinge part, and the lower belt pulley is connected with the upper belt pulley through a belt. Through setting up the second joint subassembly driving motor of second joint subassembly inside first joint subassembly, can avoid the complete exposure of moving part at first, be favorable to protecting moving part, can reduce the weight of upper arm below structure in addition, reduce its inertia to have better athletic performance.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
FIG. 1 is a schematic view of a standing state structure of an exoskeleton according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a crawling state structure of an exoskeleton according to an embodiment of the present invention;
FIG. 3 is a schematic view of the connection of the back assembly to the flip assembly of the exoskeleton of FIG. 2;
FIG. 4 is a schematic view of a portion of the structure shown in FIG. 3;
FIG. 5 is a schematic view of the mounting structure of the hindlimb assembly in the exoskeleton of FIG. 2;
FIG. 6 is a schematic view of the mounting structure of the forelimb assembly in the exoskeleton of FIG. 3;
FIG. 7 is a schematic view of the attachment of the mounting arm to the back assembly of the structure of FIG. 5;
FIG. 8 is a schematic view of the mounting structure of a single mounting arm in the configuration of FIG. 7;
FIG. 9 is a schematic view of the overall structure of the first joint assembly of FIGS. 5 and 6;
FIG. 10 is a schematic view of a portion of the first joint assembly of FIG. 9;
FIG. 11 is a schematic view of a driving device of the second joint assembly in the inner ball head shown in FIG. 10;
FIG. 12 is a schematic view in cross-section of the second joint assembly of FIGS. 5 and 6;
FIG. 13 is a schematic view of the pedal apparatus in the configuration shown in FIG. 5;
Fig. 14 is a schematic view of the head positioning assembly of the structure of fig. 1 and 2.
In the figure, an auxiliary frame 1, a traveling wheel 2, a connecting cross bar 3, a roll-over frame 4, a roll-over motor 5, a back component 6, an upper limb component 7, a lower limb component 8, a roll-over component 9, a head positioning component 10, a roll-over shaft 11, a roll-over arm 12, a roll-over plate 13, a connecting plate 14, a connecting column 15, a spring 16, a lower back plate 17, an upper back plate 18, a hinge component 19, a hinge shaft 20, a telescopic rod component I21, a telescopic rod component II22, a shaft sleeve 23, a spring mounting groove 33, a first joint component 24, an upper connecting arm 25, a second joint component 26, a lower connecting arm 27, a strap component 28, a pedal device 29, a mounting arm 30, a limiting cover 31, a mounting shaft 32, a spring mounting groove 33, a damping spring component 34, a first joint component driving motor 35, an outer joint 36, an inner joint 37, a side electric telescopic rod 38, a second joint component driving motor 39, a connecting shaft sleeve 40, an inner mounting bracket 41, an upper belt pulley 42, a belt 43, a belt cavity 44, a guide roller 45, a hinge 46, a mounting shaft 47, a lower belt pulley 48, a connecting rod 49, a rear sheath 50, a pedal sheath 52, a telescopic part fixing sleeve 52, and an outer sheath 53 are shown.
Detailed Description
The following detailed description of embodiments of the present application will be given with reference to the accompanying drawings and examples, by which the implementation process of how the present application can be applied to solve the technical problems and achieve the technical effects can be fully understood and implemented.
Figures 1-14 illustrate an embodiment of the present invention, an adjustable posture exoskeleton, primarily for cerebral palsy patients, especially those still in the learning age group as well as those who learn to climb. As shown in fig. 1, the exoskeleton with adjustable action posture comprises a human exoskeleton and an auxiliary frame 1 for supporting the whole human exoskeleton, the auxiliary frame 1 comprises arc-shaped supporting rods symmetrically arranged at the left side and the right side, the arc-shaped supporting rods are fixed through a connecting cross rod 3 transversely arranged, the lower end of each arc-shaped supporting rod is provided with a travelling wheel 2, a battery pack and a control device are arranged on the auxiliary frame 1, and the control device controls all electric driving structures according to a preset program. When the human exoskeleton walks forwards, the whole auxiliary frame 1 moves along, and the auxiliary frame 1 can enable the human exoskeleton to switch between an upright walking position and a crawling walking position, so that the requirements of cerebral palsy patients on crawling training and upright walking training are met.
In this embodiment, the human exoskeleton comprises a back component 6, two upper limb components 7 are symmetrically installed at the upper part of the back component 6, two lower limb components 8 are symmetrically installed at the lower part of the back component 6, the back component 6 is connected with a turnover frame 4 transversely arranged at the upper part of the auxiliary frame 1, the turnover frame 4 is a hollow pipe sleeve fixedly arranged, a turnover shaft 11 is arranged in the turnover frame 4, a turnover motor 5 for controlling the rotation of the turnover shaft 11 is arranged at the end part of the turnover frame 4, a turnover opening is formed in the pipe wall in the middle of the hollow pipe sleeve, a turnover arm 12 fixedly connected with the turnover frame 4 is arranged at the upper end of the turnover arm 12, a turnover plate 13 is fixedly connected at the lower end of the turnover arm 12, the turnover arm 12 and the turnover plate 13 form an L-shaped structure, and the back component 6 is connected with the turnover plate 13.
Specifically, as shown in fig. 3, the back assembly 6 includes an upper connection plate 14 and a lower back plate, the back plate is specifically divided into an upper back plate 18 of a shoulder portion and a lower back plate 17 of a waist portion, front middle portions of the upper back plate 18 and the lower back plate 17 are respectively connected to rear middle portions of the connection plate 14 through hinge assemblies 19, and the two hinge assemblies 19 share one hinge shaft 20. Referring to fig. 4, the connection plates 14 are rectangular structures, the connection posts 15 are vertically and fixedly arranged at four corners of the connection plates, the width of the turnover plates 13 is smaller than that of the connection plates 14, the shaft sleeves 23 through which the connection posts 15 slide are respectively arranged at four corner areas of the connection plates, springs 16 are movably sleeved at the upper parts of the connection posts 15, the upper ends of the springs 16 are in contact with the expansion structures at the tops of the connection posts 15, the lower parts of the springs are in contact with the shaft sleeves 23, and in the process of turning the human exoskeleton from a vertical walking position to a crawling walking position, the springs 16 are gradually compressed, at the moment, the connection plates 14 are far away from the turnover plates 13, so that knees of the human exoskeleton are close to the ground, and the crawling exoskeleton is contacted with the ground under the action of the body weight of the human exoskeleton, and the load of the movement mechanisms of the upper limb assemblies 7 and the lower limb assemblies 8 of the human exoskeleton can be reduced due to the fact that the turnover plates bear most of the weight.
In addition, the axis of the hinge shaft 20 of the hinge assembly 19 is located above the human spine and extends along the direction from the shoulder to the hip, and the telescopic rod assembly I21 and the telescopic rod assembly II22 are respectively arranged on the lower back plate 17 and the upper back plate 18, the back assembly 6 further comprises the telescopic rod assembly I21 and the telescopic rod assembly II22, wherein the upper ends of the telescopic rod assembly I21 and the telescopic rod assembly II22 are respectively hinged with the connecting plate 14, and the lower parts are respectively hinged with the lower back plate 17 and the upper back plate 18. In use, the whole backboard is fixed on the waist and back of a human body through a clasping structure (a common binding belt component on the existing exoskeleton can be selected) arranged on the back of the whole backboard, and most of the weight of the human body is borne, in the natural crawling process of the human body, the telescopic rod component I21 and the telescopic rod component II22 can independently control the back actions of the lower backboard 17 and the upper backboard 18 when the human body is simulated, so that the human body is driven to move along with the back actions, and therefore the exoskeleton can realize the purpose of actively controlling the deflection of the waist and back of a user, and further assist the user to perform more real crawling training.
The limb structures of the upper limb unit 7 and the lower limb unit 8 used in this embodiment are the same in basic structure, and each has a first joint unit 24, an upper connecting arm 25, a second joint unit 26, and a lower connecting arm 27, and a strap unit 28 provided on the upper connecting arm 25 and the lower connecting arm 27, except that a pedal device 29 is further provided on the lower portion of the lower connecting arm 27 of the upper limb unit 7.
Specifically, the upper connecting arm 25 is connected with the back assembly 6 through the first joint assembly 24, the lower connecting arm 27 is connected with the upper connecting arm 25 through the second joint assembly 26, the first joint assembly 24 comprises a spherical outer joint 36, a concentric spherical inner joint 37 is movably arranged in the outer joint 36, an avoidance opening is formed in the lower portion of the outer joint 36 along the width direction of the human exoskeleton, the upper end of the upper connecting arm 25 penetrates through the avoidance opening and is connected with the inner joint 37, in addition, the outer joint 36 is driven by a first joint assembly driving motor 35 arranged along the width direction of the human exoskeleton, the axis of a rotating shaft of the first joint assembly driving motor 35 penetrates through the spherical center of the spherical outer joint 36 and controls the outer joint 36 to rotate forwards or backwards, and at the moment, the upper connecting arm 25 swings forwards or backwards along with the outer joint 36 under the restriction of the avoidance opening.
In addition, the first joint assembly 24 further includes a lateral electric telescopic rod 38, the lower end of the lateral electric telescopic rod 38 is hinged to the side of the upper connecting arm 25, the top end of the telescopic shaft is hinged to a connecting shaft sleeve 40, the connecting shaft sleeve is sleeved on the rotating shaft of the first joint assembly driving motor 35, and based on the above structure, the lateral electric telescopic rod 38 can push the upper connecting arm 25 to swing left and right under the limitation of the avoidance opening and the inner joint 37 through telescopic action. Because the outer joint 36 and the inner joint 37 both move about a center of sphere, the lower link arm 27 is closer in joint configuration to the human ball and joint structure, thereby providing better control of leg motion.
Regarding the second joint assembly 26, it includes a second joint assembly driving motor 39, a belt 43 and a hinge 46, wherein the hinge 46 has a U-shaped installation space at an upper end thereof, and a lower pulley 48 is provided in the installation space, the entire hinge 46 is movably installed at a lower portion of the upper link arm 25 through an installation shaft 47 coaxial with the pulley 48, and the lower pulley 48 is fixedly installed with respect to the hinge 46. As shown in fig. 10 and 11, the inner joint 37 has a built-in space, the upper arm 25 has a belt chamber 44 penetrating the inside in the longitudinal direction, the belt chamber 44 communicates with the built-in space of the inner joint 37, the second joint assembly driving motor 39 is fixedly installed in the built-in space of the inner joint 37 by an inner mounting frame 41, and an upper pulley 42 is provided on a rotation shaft thereof. Referring to fig. 11 and 12, the lower pulley 48 is connected to the upper pulley 42 by a belt 43. In this embodiment, the maximum diameter of the lower pulley 48 is larger than the maximum diameter of the upper pulley 42, in order to avoid the upper arm 25 interfering with the belt 43, n-type avoidance openings are formed on two sides of the upper arm 25 opposite to the belt 43, and a guide roller 45 for guiding the belt 43 is disposed on the upper edge of the n-type avoidance opening. Based on the above structure, the lower link arm 27 can swing back and forth under the control of the second joint assembly 26.
When assisting a cerebral palsy patient to climb, since the knee parts of the exoskeleton of the present embodiment contact the ground, the crawling process is accompanied by the impact with the ground, and in order to simulate the shock absorption characteristics of the joints of the human body, the back assembly 6 of the present embodiment further includes four mounting arms 30 corresponding to the upper limb assemblies 7 and the lower limb assemblies 8 one by one. Specifically, as shown in fig. 5 to 8, two mounting arms 30 are mounted on the front portion of the upper back plate 18, and two mounting arms 30 are mounted on the rear portion of the lower back plate 17. Taking the mounting arm 30 on the lower back plate 17 as an example, the rear end of the mounting arm 30 is connected with the lower back plate 17 through the mounting shaft 32, and the front end is provided with the corresponding first joint assembly driving motor 35 in the lower limb assembly 8. In addition, a spring mounting groove 33 is formed at the edge of the lower back plate 17, a damping spring assembly 34 is mounted in the spring mounting groove 33, the lower end of the damping spring assembly 34 is fixed at the bottom of the spring mounting groove 33, the upper end of the damping spring assembly 34 is fixed at the back of the mounting arm 30, the mounting arm 30 can deflect in the back direction relative to the back assembly 6 around the hinge axis of the rear end under the limit of the damping assembly, so that the mounting arm 30 has a certain degree of freedom, the damping assembly can firstly buffer the ground impact force applied to the skeleton of a human body in the crawling process through upward deflection, in addition, in the natural crawling process, in order to adjust the gravity center of the body to keep balance, the limbs can rise along with the deflection of the waist and the back, when the upper back plate 18 or the lower back plate 17 deflects, the limbs on the lifting side are normally lifted, and the limbs on the lowering side are relatively deflected with the mounting arm 30 and the back plate to keep the state of the limbs on the lowering side from being influenced by the deflection process. To avoid excessive deflection of the mounting arm 30, the present embodiment provides a stop cap 31 on each of the upper and lower back plates 18, 17, and does not continue to deflect upward when the mounting arm 30 is deflected to the front contact stop cap 31.
Except for the above structure, the present embodiment uses a strap assembly capable of being automatically detached, the main body of the strap assembly 28 is a strap with a fastening tape, the back of the strap is provided with magnetic steel, the strap is adsorbed at a specific position of the exoskeleton through the magnetic steel, and the adsorption force of the magnetic steel is 10N. If a cerebral palsy patient is restless during use, the strap assembly 28 is automatically disconnected from the limb assembly when the force received by the strap thereof away from the exoskeleton reaches 10N, thereby avoiding further loss of control of the user's mood. At the same time, the use of such releasable removable structure mounting strap assembly 28 also facilitates the quick donning of the exoskeleton. In addition, the pedal device 29 is installed at the lower part of the lower connecting arm 27 through the connecting piece 55, comprises a shoe-shaped structure surrounded by the outer fixing ring 53 of the metal ring structure, and further comprises a pedal layer 54 in the middle of the outer fixing ring 53, the pedal layer 54 is made of soft materials, the pedal layer 54 deforms downwards and contacts the ground in the pedal process, each pedal can be accompanied with the perception of the foot to the ground, the user has real walking experience, and the foot nerves are stimulated by loading the foot, so that the aim of exercising the control capability of the user on the muscle groups of the foot is fulfilled.
In addition, the main application object of the embodiment is a cerebral palsy patient, especially a cerebral palsy child, and the investigation finds that the cerebral palsy child has a phenomenon that the head cannot be controlled independently, and the cerebral palsy child needs to face forward in the crawling process. For this reason, the head positioning assembly 10 is disposed at the front portion of the upper back plate 18, specifically, as shown in fig. 14, two symmetrically disposed connecting rods 49 are disposed, the upper portion of the connecting rod 49 is bent upward and the outer periphery of the connecting rod is sleeved with a rear sheath 50, a head positioning area is formed between the two rear sheaths 50, in addition, a telescopic inserting rod 51 is disposed at the top portion of the connecting rod 49, and an arc forehead sheath 52 capable of being sleeved on the forehead is disposed between the two telescopic inserting rods 51, and the forehead sheath 52 and the rear sheath 50 cooperate to ensure that the head of the user is in a correct crawling posture.
It should be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a product or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such product or system. Without further limitation, an element defined by the phrase "comprising one of the elements" does not exclude the presence of additional identical elements in a commodity or system comprising the element.
While the foregoing description illustrates and describes the preferred embodiments of the present invention, it is to be understood that the invention is not limited to the forms disclosed herein, but is not to be construed as limited to other embodiments, and is capable of numerous other combinations, modifications and environments and is capable of changes or modifications within the scope of the inventive concept as described herein, either as a result of the foregoing teachings or as a result of the knowledge or technology in the relevant art. And that modifications and variations which do not depart from the spirit and scope of the invention are intended to be within the scope of the appended claims.
Claims (9)
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| CN105686933A (en) * | 2016-03-30 | 2016-06-22 | 深圳市人民医院 | Infant crawling, standing and traveling instrument |
| CN108721061A (en) * | 2018-03-26 | 2018-11-02 | 大连交通大学 | A kind of novel auxiliary mechanical limb device |
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| RU2387437C1 (en) * | 2008-10-08 | 2010-04-27 | Юрий Георгиевич Жуковский | Physiotherapeutic jacket for learning to crawl |
| ES2759298T3 (en) * | 2016-02-18 | 2020-05-08 | Hexowheel | Support structure |
| WO2019005945A1 (en) * | 2017-06-27 | 2019-01-03 | Massachusetts Institute Of Technology | Wearable robotic systems for supporting a load |
| CN209995766U (en) * | 2019-04-10 | 2020-01-31 | 深圳市金诺威电子有限公司 | baby crawling moped |
| CN110664169A (en) * | 2019-11-19 | 2020-01-10 | 张艳红 | Switchable walker |
| CN114100070A (en) * | 2021-12-07 | 2022-03-01 | 吕振 | Crawling training auxiliary device for treating lumbago and backache |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105686933A (en) * | 2016-03-30 | 2016-06-22 | 深圳市人民医院 | Infant crawling, standing and traveling instrument |
| CN108721061A (en) * | 2018-03-26 | 2018-11-02 | 大连交通大学 | A kind of novel auxiliary mechanical limb device |
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