CN105342806B - A kind of human body joint motion servicing unit and human motion power assisting device - Google Patents
A kind of human body joint motion servicing unit and human motion power assisting device Download PDFInfo
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- CN105342806B CN105342806B CN201510741175.2A CN201510741175A CN105342806B CN 105342806 B CN105342806 B CN 105342806B CN 201510741175 A CN201510741175 A CN 201510741175A CN 105342806 B CN105342806 B CN 105342806B
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- 230000033001 locomotion Effects 0.000 title claims abstract description 92
- 230000008878 coupling Effects 0.000 claims description 62
- 238000010168 coupling process Methods 0.000 claims description 62
- 238000005859 coupling reaction Methods 0.000 claims description 62
- 210000000629 knee joint Anatomy 0.000 claims description 47
- 210000004394 hip joint Anatomy 0.000 claims description 45
- 210000000689 upper leg Anatomy 0.000 claims description 28
- 210000002414 leg Anatomy 0.000 claims description 22
- 210000001624 hip Anatomy 0.000 claims description 19
- 230000010365 information processing Effects 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 239000000835 fiber Substances 0.000 claims description 3
- 230000003183 myoelectrical effect Effects 0.000 claims description 3
- 230000003287 optical effect Effects 0.000 claims description 3
- 238000000354 decomposition reaction Methods 0.000 claims description 2
- 230000008602 contraction Effects 0.000 abstract description 7
- 210000003205 muscle Anatomy 0.000 abstract description 6
- 238000004088 simulation Methods 0.000 abstract description 3
- 230000000694 effects Effects 0.000 description 3
- 210000000544 articulatio talocruralis Anatomy 0.000 description 2
- 210000002310 elbow joint Anatomy 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 210000003127 knee Anatomy 0.000 description 2
- 230000037230 mobility Effects 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- 210000000323 shoulder joint Anatomy 0.000 description 2
- 241000209140 Triticum Species 0.000 description 1
- 235000021307 Triticum Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0218—Drawing-out devices
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of small volume and can realize the human body joint motion servicing unit and human motion power assisting device of multifreedom motion.The human body joint motion servicing unit, including drag-line mechanical structure, drag-line power part, drag-line mechanical structure includes the first support frame, second support frame, rotary shaft, first flexible cable, second flexible cable, by the motion mode of the contraction traction simulation human muscle of drag-line, realize free bend and the stretching, extension in joint, flexible drag-line is more easy to install and arranges, can multiple joint motions driven by one group of executing agency, alleviate driver element quantity and system bulk, weight, and mechanism's space hold amount is small, multiduty artificial mechanism skeleton motion can be realized, and the quantity and orientation for passing through drag-line configuration, different muscle can be simulated, the contraction of different directions, so as to realize the multidirectional motion of multiple degrees of freedom, it is adapted in dynamic auxiliary, rehabilitation, and the field popularization and application of disabled person's servicing unit.
Description
Technical field
The present invention relates to move auxiliary, rehabilitation, and disabled person's servicing unit field, and in particular to a kind of human synovial fortune
Dynamic auxiliary device and human motion power assisting device.
Background technology
Outdoor exercises crowd, old man and group of handicapped need a kind of succinct, flexible, efficient joint motions auxiliary and power-assisted
Device.Current joint motions auxiliary and the principle of power assisting device mainly include two classes, and a class is by the rotation of actuating unit
With diarthrodial rotation, another kind of rotated by the elongation and contraction band movable joint of extra support bar.Existing solution master
To exist it is heavy, multivariant motion should not be realized, the shortcomings of planform is dumb.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of small volume and can realize the people of multifreedom motion
Body joint motions servicing unit.
The technical solution adopted for the present invention to solve the technical problems is：The human body joint motion servicing unit, including draw
Rope mechanical structure, drag-line power part, the drag-line mechanical structure include the first support frame, the second support frame, rotary shaft, first
Flexible cable, the second flexible cable, first support frame, the second support frame are arranged on the rotary shaft and can be around rotary shaft
Freely rotate, the rotary shaft is fixed on left hip joint rotating shaft or right hip joint rotating shaft or left knee joint rotating shaft or right knee joint turns
On axle and the axial line of the two overlaps, the first support frame is arranged on the lower section of rotary shaft, and left side and the right side of first support are all provided with
It is equipped with gathering sill, the second support frame is arranged on the top of rotary shaft, the left side of the second support frame, right side and top are provided with
Gathering sill, one end of first flexible cable is fixed on the bottom of the first support frame, and the other end bypasses the first support frame successively
With drawing after gathering sill, the gathering sill of the second support frame right side setting, the gathering sill of the second support frame top setting that right side is set
Rope power part is connected, and one end of second flexible cable is fixed on the bottom of the first support frame, and the other end bypasses the successively
The guiding that the gathering sill of one support frame left side setting, the gathering sill of the second support frame left side setting, the second support frame top are set
It is connected with drag-line power part after groove, the drag-line power part is used to stretch the first flexible cable and the second flexible drawing respectively
Rope.
It is further that first support frame, the second support frame are triangular supports.
It is further that two-way reset torsion spring is provided between first support frame and the second support frame, it is described two-way
Two support arms of reduction torsion spring are separately fixed on the first support frame and the second support frame.
Present invention also offers a kind of human motion power assisting device, the human motion power assisting device includes that left leg couples dress
Put, right leg coupling device, left thigh coupling device, right thigh coupling device, hip coupling device, left leg coupling dress
Put and be connected by left knee joint rotating shaft with left thigh coupling device, the left thigh coupling device is logical with hip coupling device left side
Cross left hip joint rotating shaft to be connected, the right leg coupling device is connected with right thigh coupling device by right knee joint rotating shaft, institute
State right thigh coupling device to be connected by right hip joint rotating shaft with hip coupling device right side, the left knee joint rotating shaft, right knee
The drag-line mechanical structure of its rotation of at least one driving is mounted in the rotating shaft of joint, is also perceived including drag-line power part, drag-line
Control unit, man-machine interface system, control system, drag-line perceive the motion that control unit perceives human body by man-machine interface system
State and motion intention simultaneously send it to control system, and control system will send instructions to drag-line power part after information processing
Part, drag-line power part driving drag-line mechanical structure makes left knee joint rotating shaft or right knee joint axis of rotation, the drag-line machinery
Structure includes the first support frame, the second support frame, rotary shaft, the first flexible cable, the second flexible cable, first support
Frame, the second support frame are arranged on the rotary shaft and can freely be rotated around rotary shaft, and the rotary shaft is fixed on left hip joint
In rotating shaft or right hip joint rotating shaft or left knee joint rotating shaft or right knee joint rotating shaft and the two axial line overlap, the first support frame
The lower section of rotary shaft is arranged on, left side and the right side of the first support frame are provided with gathering sill, and the second support frame is arranged on rotation
The top of axle, the left side of the second support frame, right side and top are provided with gathering sill, and one end of first flexible cable is consolidated
The bottom of the first support frame is scheduled on, the other end bypasses gathering sill, the second support frame right side that the first support frame right side is set successively
It is connected with drag-line power part after the gathering sill that the gathering sill of setting, the second support frame top are set, second flexible cable
One end be fixed on the bottom of the first support frame, the other end bypass successively the gathering sill that the first support frame left side sets, second
It is connected with drag-line power part after gathering sill, the gathering sill of the second support frame top setting that support left side is set, the drag-line
Power part is used to stretch the first flexible cable and the second flexible cable respectively.
It is further the drag-line machine for being mounted on driving it to rotate in the left hip joint rotating shaft, right hip joint rotating shaft
Tool structure, drag-line perceives control unit and perceives the motion state and motion intention of human body by man-machine interface system and be sent to
To control system, control system will send instructions to drag-line power part after information processing, and drag-line power part drives drag-line machine
Tool structure makes left hip joint rotating shaft or right hip joint axis of rotation.
It is further that first support frame, the second support frame are triangular supports.
It is further that two-way reset torsion spring is provided between first support frame and the second support frame, it is described two-way
Two support arms of reduction torsion spring are separately fixed on the first support frame and the second support frame.
It is further that the left leg coupling device includes the first semicircle backplate and the first C-shaped ring band, described the
Half circular plates and the first C-shaped ring band surround a space for circle, and the upper end of the described first semicircle backplate is fixed with the
One supporting plate, the left thigh coupling device includes the second semicircle backplate and the second C-shaped ring band, the described second semicircle shield
Plate and the second C-shaped ring band surround a space for circle, and the lower end of the described second semicircle backplate is fixed with the second supporting plate, on
End is fixed with the 3rd supporting plate, and the hip coupling device includes waistband, and the lower end of the second supporting plate is upper with the first supporting plate
End is connected by left knee joint rotating shaft, and the upper end of the 3rd supporting plate is connected with the left hip joint rotating shaft that passes on left of waistband, described
Right leg coupling device includes the 3rd semicircle backplate and the 3rd C-shaped ring band, the described 3rd semicircle backplate and the 3rd C-shaped ring
Band surrounds a space for circle, and the upper end of the described 3rd semicircle backplate is fixed with the 4th supporting plate, the right thigh coupling
Device includes the 4th semicircle backplate and the 4th C-shaped ring band, and the described 4th semicircle backplate and the 4th C-shaped ring band surround one
Circular space, the lower end of the described 4th semicircle backplate is fixed with the 5th supporting plate, and upper end is fixed with the 6th supporting plate, the 5th
The lower end of supporting plate is connected with the upper end of the 4th supporting plate by right knee joint rotating shaft, the upper end of the 6th supporting plate and the right side of waistband
Side is connected by right hip joint rotating shaft.
It is further that the man-machine interface system includes information Perception equipment, input-output equipment, information transfer net
Network, information processing apparatus, described information awareness apparatus include that pressure sensor, inertial sensor, joint encoders, contact should
Become piece, Fibre Optical Sensor, myoelectric sensor, eeg sensor, displacement transducer, rotary encoder, pressure switch, range finding sensing
Device, the input-output equipment includes keyboard, microphone, earphone, Expression Recognition system, eye tracking system.
It is further that the control system is directed to human motion state, and according to mobility dynamics, human body is transported
Movement decomposition is moved for rotation of the joint in each free degree, and sets up corresponding joint angles, joint angular speed, joint moment and existed
The rule database changed over time in motion, as the expectation input signal of feedback control system, according to man-machine interface system
Perceive the motion state or motion intention of human body, the expectation input signal in selection database, by the coordination control laws for designing
The drag-line mechanical structure of each joint is driven to work.
Beneficial effects of the present invention：The human body joint motion servicing unit draws simulation human muscle by the contraction of drag-line
Motion mode, realize free bend and the stretching, extension in joint, relative to traditional joint motions servicing unit, flexible drag-line is more
Easy to install and arrangement, can multiple joint motions driven by one group of executing agency, alleviate driver element quantity and system bulk,
Weight, and mechanism's space hold amount is small, and mechanism structure intensity is locally improve, multiduty artificial mechanism bone fortune can be realized
Move, and pass through quantity and orientation that drag-line is configured, the contraction of different muscle, different directions can be simulated, so as to realize more certainly
By spending multidirectional motion, the human body joint motion servicing unit can be used in knee joint, hip joint, shoulder joint, elbow joint
With other joints such as ankle-joint, realize that joint motions are aided in.Human motion power assisting device is closed by left knee joint rotating shaft, right knee
Section rotating shaft, left hip joint rotating shaft, the drag-line mechanical structure for driving it to rotate is installed in right hip joint rotating shaft, drag-line perceives control unit
Part perceives the motion state and motion intention of human body and sends it to control system by man-machine interface system, and control system will
Send instructions to drag-line power part after information processing, drag-line power part drive drag-line mechanical structure make left knee joint rotating shaft or
Right knee joint rotating shaft or left hip joint rotating shaft or right hip joint axis of rotation, so that for joint motions provided auxiliary is supported, and energy
Energy ezpenditure, the joint wear of wearer are substantially reduced, and then realizes the purpose of auxiliary wearer motion.
Brief description of the drawings
Fig. 1 is the drag-line mechanical structure schematic diagram of human body joint motion servicing unit of the present invention；
Fig. 2 is the structural representation of human motion power assisting device of the present invention；
Description of symbols in figure：The semicircle backplate 101 of left leg coupling device 1, first, 102, first, the first C-shaped ring band
The semicircle backplate 201 of fagging 103, right leg coupling device the 2, the 3rd, the 3rd C-shaped ring the 202, the 4th supporting plate 203, left thigh of band
The semicircle backplate 301 of coupling device 3, second, the 302, second supporting plate 303 of the second C-shaped ring band, the 3rd supporting plate 304, right thigh
The semicircle backplate 401 of coupling device the 4, the 4th, the 402, the 5th supporting plate 403 of the 4th C-shaped ring band, the 6th supporting plate 404, hip coupling
Attach together and put 5, waistband 501, left knee joint rotating shaft 6, left hip joint rotating shaft 7, right knee joint rotating shaft 8, right hip joint rotating shaft 9, drag-line
Mechanical structure 10, the first support frame 1001, the second support frame 1002, rotary shaft 1003, the first flexible cable 1004, second are flexible
Drag-line 1005, gathering sill 1006, two-way reset torsion spring 1007, drag-line power part 11.
Specific embodiment
The present invention will be further described below in conjunction with the accompanying drawings.
As shown in figure 1, human body joint motion servicing unit, it is characterised in that：Including drag-line mechanical structure 10, drag-line power
Part 11, the drag-line mechanical structure 10 includes that the first support frame 1001, the second support frame 1002, rotary shaft 1003, first are soft
Property drag-line 1004, the second flexible cable 1005, first support frame 1001, the second support frame 1002 are set in rotary shaft
Can be rotated on 1003 and freely around rotary shaft 1003, the rotary shaft 1003 is fixed on left hip joint rotating shaft 7 or right hip joint
In rotating shaft 9 or left knee joint rotating shaft 6 or right knee joint rotating shaft 8 and the axial line of the two overlaps, the first support frame 1001 is arranged on
The lower section of rotary shaft 1003, left side and the right side of the first support frame 1001 are provided with gathering sill 1006, the second support frame 1002
It is arranged on the top of rotary shaft 1003, the left side of the second support frame 1002, right side and top are provided with gathering sill 1006, institute
The one end for stating the first flexible cable 1004 is fixed on the bottom of the first support frame 1001, and the other end bypasses the first support frame successively
The gathering sill 1006 of 1001 right side settings, the gathering sill 1006 of the right side of the second support frame 1002 setting, the second support frame 1002 are pushed up
It is connected with drag-line power part 11 after the gathering sill 1006 that portion is set, one end of second flexible cable 1005 is fixed on first
The bottom of support frame 1001, the other end bypasses gathering sill 1006, the second support frame that the left side of the first support frame 1001 is set successively
With drag-line power part 11 after gathering sill 1006, the gathering sill 1006 of the top of the second support frame 1002 setting that 1002 left sides are set
It is connected, the drag-line power part 11 is used to stretch the first flexible cable 1004 and the second flexible cable 1005 respectively.The human body
Joint motions servicing unit by drag-line contraction traction simulation human muscle motion mode, realize joint free bend and
Stretch, relative to traditional joint motions servicing unit, flexible drag-line is more easy to install and arrangement, can multiple joint motions by
One group of executing agency drives, and alleviates driver element quantity and system bulk, weight, and mechanism's space hold amount is small, and locally
Mechanism structure intensity is improve, multiduty artificial mechanism skeleton motion, and the quantity by drag-line configuration and side can be realized
Position, can simulate the contraction of different muscle, different directions, so as to realize the multidirectional motion of multiple degrees of freedom, human synovial fortune
Dynamic auxiliary device can be used in other joints such as knee joint, hip joint, shoulder joint, elbow joint and ankle-joint, realize that joint is transported
Dynamic auxiliary.
The first support frame 1001 is rotated with the second support frame 1002 around rotary shaft 1003 for convenience, first support frame
1001st, the second support frame 1002 is preferably triangular supports.
In order to improve power-assisted effect, two-way reset is provided between the support frame 1002 of first support frame 1001 and second
Torsion spring 1007, two support arms of the two-way reset torsion spring 1007 are separately fixed at the first support frame 1001 and the second support frame
On 1002.Make the first support frame 1001 and the second support frame 1002 around rotary shaft when drag-line power part 11 stretches flexible zip
After 1003 rotate, it can be made to reset by two-way reset torsion spring 1007, convenient stretching rotation next time.
Present invention also offers a kind of human motion power assisting device, as shown in Figure 1, 2, the human motion power assisting device includes
Left leg coupling device 1, right leg coupling device 2, left thigh coupling device 3, right thigh coupling device 4, hip coupling device
5, the left leg coupling device 1 is connected with left thigh coupling device 3 by left knee joint rotating shaft 6, the left thigh coupling dress
Put 3 and pass on left left hip joint rotating shaft 7 with hip coupling device 5 and be connected, the right leg coupling device 2 couples dress with right thigh
Put 4 to be connected by right knee joint rotating shaft 8, the right thigh coupling device 4 is turned with the right side of hip coupling device 5 by right hip joint
Axle 9 is connected, and the drag-line machinery of its rotation of at least one driving is mounted in the left knee joint rotating shaft 6, right knee joint rotating shaft 8
Structure 10, also perceives control unit, man-machine interface system, control system including drag-line power part, drag-line, and drag-line perceives control unit
Part perceives the motion state and motion intention of human body and sends it to control system by man-machine interface system, and control system will
Drag-line power part 11 is sent instructions to after information processing, the driving drag-line of drag-line power part 11 mechanical structure 10 makes left knee joint
Rotating shaft 6 or right knee joint rotating shaft 8 are rotated, the drag-line mechanical structure 10 include the first support frame 1001, the second support frame 1002,
Rotary shaft 1003, the first flexible cable 1004, the second flexible cable 1005, first support frame 1001, the second support frame
1002 are set in rotary shaft 1003 and can freely be rotated around rotary shaft 1003, and the rotary shaft 1003 is fixed on left hip and closes
Save in rotating shaft 7 or right hip joint rotating shaft 9 or left knee joint rotating shaft 6 or right knee joint rotating shaft 8 and the axial line of the two overlaps, first
Support frame 1001 is arranged on the lower section of rotary shaft 1003, and left side and the right side of first support are provided with gathering sill 1006, second
Support frame 1002 is arranged on the top of rotary shaft 1003, and the left side of the second support frame 1002, right side and top are provided with and lead
To groove 1006, one end of first flexible cable 1004 is fixed on the bottom of the first support frame 1001, and the other end is bypassed successively
Gathering sill 1006, the gathering sill 1006, second of the right side of the second support frame 1002 setting that the right side of first support frame 1001 is set
It is connected with drag-line power part 11 after the gathering sill 1006 that the top of support 1002 is set, one end of second flexible cable 1005
Be fixed on the bottom of the first support frame 1001, the other end bypass successively the gathering sill 1006 that the left side of the first support frame 1001 sets,
With drag-line after gathering sill 1006, the gathering sill 1006 of the top of the second support frame 1002 setting that the left side of second support frame 1002 is set
Power part 11 is connected, and the drag-line power part 11 is used to stretch the first flexible cable 1004 and the second flexible cable respectively
1005.It is further the drag-line parts for being mounted on driving it to rotate in the left hip joint rotating shaft 7, right hip joint rotating shaft 9
Tool structure, drag-line perceives control unit and perceives the motion state and motion intention of human body by man-machine interface system and be sent to
To control system, control system will send instructions to drag-line power part 11 after information processing, and drag-line power part 11 drives and draws
Rope mechanical structure 10 rotates left hip joint rotating shaft 7 or right hip joint rotating shaft 9.So just knee joint and hip can be closed simultaneously
Section carries out joint motions auxiliary, so as to provide more motion auxiliary.
Human motion power assisting device is by left knee joint rotating shaft 6, right knee joint rotating shaft 8, left hip joint rotating shaft 7, right hip
The drag-line mechanical structure 10 for driving it to rotate is installed, drag-line perceives control unit and passes through man-machine interface system sense in joint rotating shaft 9
Know the motion state and motion intention of human body and send it to control system, control system will send instructions to after information processing
Drag-line power part 11, the driving drag-line of drag-line power part 11 mechanical structure 10 makes left knee joint rotating shaft 6 or right knee joint rotating shaft 8
Or left hip joint rotating shaft 7 or right hip joint rotating shaft 9 are rotated, so as to be the support of joint motions provided auxiliary, and can substantially reduce and wear
The energy ezpenditure of wearer, joint wear, and then realize the purpose of auxiliary wearer motion.
The first support frame 1001 is rotated with the second support frame 1002 around rotary shaft 1003 for convenience, first support frame
1001st, the second support frame 1002 is preferably triangular supports.
In order to improve power-assisted effect, two-way reset is provided between the support frame 1002 of first support frame 1001 and second
Torsion spring 1007, two support arms of the two-way reset torsion spring 1007 are separately fixed at the first support frame 1001 and the second support frame
On 1002.Make the first support frame 1001 and the second support frame 1002 around rotary shaft when drag-line power part 11 stretches flexible zip
After 1003 rotate, it can be made to reset by two-way reset torsion spring 1007, convenient stretching rotation next time.
In said structure, the left leg coupling device 1 includes the first semicircle C-shaped ring band of backplate 101 and first
102, the described first semicircle C-shaped ring of backplate 101 and first surrounds a space for circle, the described first semicircle shield with 102
The upper end of plate 101 is fixed with the first supporting plate 103, and the left thigh coupling device 3 includes the second semicircle backplate 301 and the
Two C-shaped rings band 302, the described second semicircle C-shaped ring of backplate 301 and second surrounds a space for circle, described second with 302
The lower end of semicircle backplate 301 is fixed with the second supporting plate 303, and upper end is fixed with the 3rd supporting plate 304, the hip coupling dress
Putting 5 includes waistband 501, and the lower end of the second supporting plate 303 is connected with the upper end of the first supporting plate 103 by left knee joint rotating shaft 6,
The upper end of the 3rd supporting plate 304 is connected with the left hip joint rotating shaft 7 that passes on left of waistband 501, and the right leg coupling device 2 is wrapped
The 3rd semicircle C-shaped ring of backplate 201 and the 3rd band 202 is included, the described 3rd semicircle backplate 201 encloses with the 3rd C-shaped ring band 202
Into a space for circle, the upper end of the described 3rd semicircle backplate 201 is fixed with the 4th supporting plate 203, the right thigh coupling
Attach together and put 4 including the 4th semicircle C-shaped ring of backplate 401 and the 4th with 402, the described 4th semicircle C-shapeds of backplate 401 and the 4th
Annulus 402 surrounds a space for circle, and the lower end of the described 4th semicircle backplate 401 is fixed with the 5th supporting plate 403, upper end
The 6th supporting plate 404 is fixed with, the lower end of the 5th supporting plate 403 is with the upper end of the 4th supporting plate 203 by right knee joint rotating shaft 8
It is connected, the upper end of the 6th supporting plate 404 is connected with the right side of waistband 501 by right hip joint rotating shaft 9.The left leg coupling device
1st, right leg coupling device 2, left thigh coupling device 3, right thigh coupling device 4, the simple structure of hip coupling device 5, processing
It is convenient, and support effect is preferably, and meanwhile it is easy to connect between each coupling device, it is easy to mass production.
In order to ensure comprehensively to perceive motion state, motion intention and the Physiological Psychology state of human body, the man-machine interface
System includes information Perception equipment, input-output equipment, information transmission network, information processing apparatus, described information awareness apparatus
Including pressure sensor, inertial sensor, joint encoders, contact strain meter, Fibre Optical Sensor, myoelectric sensor, brain electricity
Sensor, displacement transducer, rotary encoder, pressure switch, distance measuring sensor, the input-output equipment include keyboard, wheat
Gram wind, earphone, Expression Recognition system, eye tracking system.Man-machine interface system is according to each sensor and input-output equipment
Information, action gaits various to human body carry out Machine self-learning, and the motion intention of real-time estimate human body perceives the motion shape of human body
State and Physiological Psychology state and environmental information, and real-time Transmission is to control system.
Finally, the control system is directed to human motion state, and according to mobility dynamics, human motion is acted
Rotation of the joint in each free degree is decomposed into, and sets up corresponding joint angles, joint angular speed, joint moment during exercise
The rule database for changing over time, as the expectation input signal of feedback control system, people is perceived according to man-machine interface system
The motion state or motion intention of body, the expectation input signal in selection database are driven every by the coordination control laws for designing
The drag-line mechanical structure 10 of individual joint works, and reaches the purpose of human body joint motion auxiliary.
Claims (10)
1. a kind of human body joint motion servicing unit, including drag-line mechanical structure (10), it is characterised in that：Also include drag-line power
Part (11), the drag-line mechanical structure (10) includes the first support frame (1001), the second support frame (1002), rotary shaft
(1003), the first flexible cable (1004), the second flexible cable (1005), first support frame (1001), the second support frame
(1002) it is set in rotary shaft (1003) and can be freely rotated around rotary shaft (1003), the rotary shaft (1003) is fixed
On left hip joint rotating shaft (7) or right hip joint rotating shaft (9) or left knee joint rotating shaft (6) or right knee joint rotating shaft (8) and the two
Axial line overlap, the first support frame (1001) is arranged on the lower section of rotary shaft (1003), the left side of the first support frame (1001)
Gathering sill (1006) is provided with right side, the second support frame (1002) is arranged on the top of rotary shaft (1003), the second support
The left side of frame (1002), right side and top are provided with gathering sill (1006), one end of first flexible cable (1004)
The bottom of the first support frame (1001) is fixed on, the other end bypasses the gathering sill that the first support frame (1001) right side is set successively
(1006) gathering sill (1006), the guiding of the second support frame (1002) top setting that, the second support frame (1002) right side is set
Groove (1006) is connected with drag-line power part (11) afterwards, and one end of second flexible cable (1005) is fixed on the first support frame
(1001) bottom, the other end bypasses gathering sill (1006), the second support frame that the first support frame (1001) left side is set successively
(1002) gathering sill (1006) that the gathering sill (1006) of left side setting, the second support frame (1002) top are set is dynamic with drag-line afterwards
Power part (11) is connected, and for stretching respectively, the first flexible cable (1004) is flexible with second to be drawn the drag-line power part (11)
Rope (1005).
2. human body joint motion servicing unit as claimed in claim 1, it is characterised in that：First support frame (1001),
Second support frame (1002) is triangular supports.
3. human body joint motion servicing unit as claimed in claim 2, it is characterised in that：First support frame (1001) with
Two-way reset torsion spring (1007), two support arms of the two-way reset torsion spring (1007) are provided between second support frame (1002)
It is separately fixed on the first support frame (1001) and the second support frame (1002).
4. a kind of human motion power assisting device, including left leg coupling device (1), right leg coupling device (2), left thigh coupling
Device (3), right thigh coupling device (4), hip coupling device (5), the left leg coupling device (1) couple dress with left thigh
Put (3) to be connected by left knee joint rotating shaft (6), the left thigh coupling device (3) passes on left a left side with hip coupling device (5)
Hip joint rotating shaft (7) is connected, and the right leg coupling device (2) is with right thigh coupling device (4) by right knee joint rotating shaft (8)
It is connected, the right thigh coupling device (4) is connected with hip coupling device (5) right side by right hip joint rotating shaft (9), its feature
It is：The drag-line machine of its rotation of at least one driving is mounted on the left knee joint rotating shaft (6), right knee joint rotating shaft (8)
Tool structure (10), also perceives control unit, man-machine interface system, control system including drag-line power part, drag-line, and drag-line perceives control
Part processed perceives the motion state and motion intention of human body and sends it to control system by man-machine interface system, control system
System will send instructions to drag-line power part (11) after information processing, drag-line power part (11) drives drag-line mechanical structure (10)
Rotate left knee joint rotating shaft (6) or right knee joint rotating shaft (8), the drag-line mechanical structure (10) includes the first support frame
(1001), the second support frame (1002), rotary shaft (1003), the first flexible cable (1004), the second flexible cable (1005), institute
The first support frame (1001), the second support frame (1002) is stated to be set in rotary shaft (1003) and can be around rotary shaft (1003)
Freely rotate, the rotary shaft (1003) is fixed on left hip joint rotating shaft (7) or right hip joint rotating shaft (9) or left knee joint rotating shaft
(6) or in right knee joint rotating shaft (8) and the axial line of the two overlaps, the first support frame (1001) is arranged on rotary shaft (1003)
Lower section, left side and the right side of first support are provided with gathering sill (1006), and the second support frame (1002) is arranged on rotary shaft
(1003) top, the left side of the second support frame (1002), right side and top are provided with gathering sill (1006), described first
One end of flexible cable (1004) is fixed on the bottom of the first support frame (1001), and the other end bypasses the first support frame successively
(1001) right side is set gathering sill (1006), the gathering sill (1006) of the second support frame (1002) right side setting, the second support
The gathering sill (1006) that frame (1002) top is set is connected with drag-line power part (11) afterwards, second flexible cable (1005)
One end be fixed on the bottom of the first support frame (1001), what the other end bypassed that the first support frame (1001) left side sets successively leads
Set to groove (1006), the gathering sill (1006) of the second support frame (1002) left side setting, the second support frame (1002) top
Gathering sill (1006) is connected with drag-line power part (11) afterwards, and the drag-line power part (11) is flexible for stretching first respectively
Drag-line (1004) and the second flexible cable (1005).
5. human motion power assisting device as claimed in claim 4, it is characterised in that：The left hip joint rotating shaft (7), right hip are closed
The drag-line mechanical structure (10) for driving it to rotate is mounted on section rotating shaft (9), drag-line perceives control unit and passes through man-machine interface
The motion state and motion intention of system senses human body simultaneously send it to control system, and control system will send after information processing
Instruct and give drag-line power part (11), drag-line power part (11) driving drag-line mechanical structure (10) makes left hip joint rotating shaft (7)
Or right hip joint rotating shaft (9) rotates.
6. human motion power assisting device as claimed in claim 5, it is characterised in that：First support frame (1001), second
Support frame (1002) is triangular supports.
7. human motion power assisting device as claimed in claim 6, it is characterised in that：First support frame (1001) and second
Two-way reset torsion spring (1007), two support arms difference of the two-way reset torsion spring (1007) are provided between support frame (1002)
It is fixed on the first support frame (1001) and the second support frame (1002).
8. human motion power assisting device as claimed in claim 7, it is characterised in that：The left leg coupling device (1) includes
First semicircle backplate (101) and the first C-shaped ring band (102), the described first semicircle backplate (101) and the first C-shaped ring band
(102) space for circle is surrounded, the upper end of the described first semicircle backplate (101) is fixed with the first supporting plate (103), institute
Stating left thigh coupling device (3) includes the second semicircle backplate (301) and the second C-shaped ring band (302), and described second is semicircle
Backplate (301) surrounds a space for circle with the second C-shaped ring band (302), and the lower end of the described second semicircle backplate (301) is consolidated
Surely there is the second supporting plate (303), upper end is fixed with the 3rd supporting plate (304), and the hip coupling device (5) is including waistband
(501), the lower end of the second supporting plate (303) is connected with the upper end of the first supporting plate (103) by left knee joint rotating shaft (6), the
The upper end of three supporting plates (304) is connected with the left hip joint rotating shaft (7) that passes on left of waistband (501), the right leg coupling dress
Putting (2) includes the 3rd semicircle backplate (201) and the 3rd C-shaped ring band (202), the described 3rd semicircle backplate (201) and the
Three C-shaped ring bands (202) surround a space for circle, and the upper end of the described 3rd semicircle backplate (201) is fixed with the 4th support
Plate (203), the right thigh coupling device (4) includes the 4th semicircle backplate (401) and the 4th C-shaped ring band (402), described
4th semicircle backplate (401) surrounds a space for circle, the described 4th semicircle backplate with the 4th C-shaped ring band (402)
(401) lower end is fixed with the 5th supporting plate (403), and upper end is fixed with the 6th supporting plate (404), the 5th supporting plate (403)
Lower end is connected with the upper end of the 4th supporting plate (203) by right knee joint rotating shaft (8), the upper end of the 6th supporting plate (404) and waist
The right side of band (501) is connected by right hip joint rotating shaft (9).
9. human motion power assisting device as claimed in claim 8, it is characterised in that：The man-machine interface system includes information sense
Know equipment, input-output equipment, information transmission network, information processing apparatus, described information awareness apparatus include pressure sensor,
Inertial sensor, joint encoders, contact strain meter, Fibre Optical Sensor, myoelectric sensor, eeg sensor, displacement sensing
Device, rotary encoder, pressure switch, distance measuring sensor, the input-output equipment includes that keyboard, microphone, earphone, expression are known
Other system, eye tracking system.
10. human motion power assisting device as claimed in claim 9, it is characterised in that：The control system is directed to human motion
State, and be rotation of the joint in each free degree by human motion movement decomposition, and set up right according to mobility dynamics
The rule database that the joint angles answered, joint angular speed, joint moment are changed over time during exercise, as feedback control system
The expectation input signal of system, the motion state or motion intention of human body is perceived according to man-machine interface system, in selection database
Expect input signal, drive the drag-line mechanical structure (10) of each joint to work by the coordination control laws for designing.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510741175.2A CN105342806B (en) | 2015-11-03 | 2015-11-03 | A kind of human body joint motion servicing unit and human motion power assisting device |
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| CN201510741175.2A CN105342806B (en) | 2015-11-03 | 2015-11-03 | A kind of human body joint motion servicing unit and human motion power assisting device |
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| CN105342806B true CN105342806B (en) | 2017-06-23 |
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| CN108578182B (en) * | 2016-06-21 | 2020-11-27 | 合肥工业大学 | Auxiliary standing trainer |
| CN107049704A (en) * | 2017-04-24 | 2017-08-18 | 杭州众禾自动化设备有限公司 | A kind of flexible upper limbs ectoskeleton of auxiliary power |
| CN107595548B (en) * | 2017-09-27 | 2020-09-25 | 合肥工业大学 | Automatic fixing device used in human body rehabilitation training and rehabilitation training method |
| CN107569367B (en) * | 2017-10-18 | 2021-09-17 | 房倩玉 | Lower limb rehabilitation training device |
| CN110833493B (en) * | 2019-11-04 | 2021-09-03 | 湖南大学 | Leg rehabilitation mechanism device based on cable driving |
| CN110967196A (en) * | 2019-11-21 | 2020-04-07 | 清华大学苏州汽车研究院（相城） | Dummy knee displacement measuring method in automobile crash test |
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| CN101518472B (en) * | 2009-03-24 | 2011-02-02 | 中国人民解放军海军航空工程学院 | Intelligent exoskeleton carrying system for lower limb and control method thereof |
| CN201399067Y (en) * | 2009-04-23 | 2010-02-10 | 吕南利 | Electric joint stretcher |
| US8403870B2 (en) * | 2009-09-15 | 2013-03-26 | Covidien Lp | Portable, self-contained compression device |
| CN102526941B (en) * | 2011-12-31 | 2013-10-30 | 宁波市鄞州云帆工程咨询有限公司 | Automatic drag line type all-direction movement booster |
| US9662261B2 (en) * | 2013-01-16 | 2017-05-30 | Ekso Bionics, Inc. | Fail-safe system for exoskeleton joints |
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