CN106863273A - A kind of wearable knee joint booster of intelligence - Google Patents
A kind of wearable knee joint booster of intelligence Download PDFInfo
- Publication number
- CN106863273A CN106863273A CN201710144556.1A CN201710144556A CN106863273A CN 106863273 A CN106863273 A CN 106863273A CN 201710144556 A CN201710144556 A CN 201710144556A CN 106863273 A CN106863273 A CN 106863273A
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- bar
- small leg
- thigh
- knee joint
- shank
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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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of wearable knee joint booster of intelligence, its mechanical structure portion includes thigh bar, shank bar, harmonic gear reducer, one end of thigh bar is I-shaped structure, harmonic gear reducer is bolted to connection with the I-shaped structure of thigh bar, direct current generator is installed, shank bar is installed on the output shaft of harmonic drive by flange on harmonic gear reducer；Thigh bandage and shank bandage are separately installed with thigh bar and shank bar；Human motion is intended to extraction unit point includes the large and small leg acceleration transducer being arranged on large and small leg bar, it is arranged on D.C. regulated power supply and processor module on thigh bar, it is arranged on the large and small leg array of pressure sensors on large and small leg bandage inner side, and the wrist sensor assembly for being arranged on outside.The present invention can fast and accurately recognize human motion intention, and human body of giving promptly and accurately applies correct power-assisted.
Description
Technical field
The present invention relates to a kind of knee joint booster, more particularly to a kind of wearable knee joint booster of intelligence, it belongs to
Exoskeleton robot technical field.
Background technology
Have benefited from the accumulation of ectoskeleton technology and the breakthrough of correlative technology field, wearable power-assisted humanoid robot is at each
Aspect is all with a wide range of applications.The all successive leg of the states such as Japan, France, Israel has gone out the ectoskeleton power-assisted of oneself and has produced
Product, and strong repercussion has commercially been caused, create huge economic worth and social value.Domestic Scientific Research institute
Main direction of studying was concentrated on the overall ectoskeleton of upper and lower limb by school in recent years, although its structure, control mode are relative complex,
But phasic results are had been achieved with, a large amount of correlation techniques are have accumulated.
The key of knee joint power assistive device is that how accurately to apply outside wrist sensor assembly power-assisted, that is,
Quick identification human motion is intended to such that it is able to adapt to different landform, such as mountain region, hillside fields, stair, actively applies power-assisted,
Mitigate human body burden.And the control of existing knee joint power assistive device mainly has two kinds：A kind of is passive power-assisted, i.e., according to volume
The program finished writing, gait is planned, human motion has been moved by equipment belt, this mode can have been influenceed by topography variation, forms of motion
It is limited, and there is certain potential safety hazard；Another kind is that the mode for applying order by hand provides power-assisted to human body, that is,
A same device of remote control is possessed in the hand of people, the swing of leg is controlled with this.Both approaches have its own
Limitation, it is not intelligent enough, the muscle power of people is largely also consumes, and the motion of people can also become very unnatural.
As country vigorously advocates nationwide fitness programs, it is outdoor on foot, the crowd of climbing the mountain be continuously increased, with reference to exoskeleton robot
The equipment of power-assisted of walking also obtain the expectation of increasing people.So, in the urgent need to it is a it is intelligent can be with extract real-time
The Wearable knee joint power assistive device that wearer motion is intended to and can follow in time.
The content of the invention
In order to solve the above technical problems, the present invention proposes a kind of wearable knee joint booster of intelligence, it passes through leg and adds
Acceleration sensor module, the signal of array of pressure sensors and the sensor assembly being worn in wrist on bandage, can be accurate
Identification human motion is intended to, so as to rationally apply outside power-assisted, mitigates knee joint burden during human motion.
In order to achieve the above object, technical scheme is as follows：A kind of wearable knee joint booster of intelligence, this is helped
Actively to apply power-assisted, it includes that mechanical structure portion and human motion are intended to extract part to power device；The mechanical structure portion
Including thigh bar, shank bar, harmonic gear reducer, one end of the thigh bar is I-shaped structure, harmonic gear reducer
I-shaped structure with thigh bar is bolted to connection, and direct current generator is provided with the harmonic gear reducer, described
Shank bar is installed on the output shaft of harmonic drive by flange；It is separately installed with thigh bar and shank bar big
Leg bandage and shank bandage；
The human motion is intended to extraction unit point includes the large and small leg acceleration transducer being arranged on large and small leg bar, if
D.C. regulated power supply and processor module on thigh bar are put, the large and small leg pressure being arranged on large and small leg bandage inner side is passed
Sensor array, and it is worn on the sensor assembly in wrist.
Preferably, the large and small leg acceleration transducer selects multiaxis or single-axis acceleration sensors, it is used to examine
Thigh, the acceleration and tilt angles of shank when surveying human locomotion in sagittal plane, the tilt angles pass through gyro sensors
Device or acceleration transducer can be directly obtained.
Preferably, the large and small leg array of pressure sensors is in contact-making switch, capacitance switch or pressure sensor
One or more combination, large and small leg array of pressure sensors is used to the signal intensity by detecting array-type sensor,
Obtain the motion intention of human leg.
The wrist sensor assembly is used to realize the extraction of arms swing attitude, and its attitude is including but not limited to angle of oscillation
Degree, swing speed, the wrist sensor assembly include but is not limited to acceleration transducer, gyro sensor, inclinometer or
Person's magnetometric sensor.
And the wrist sensor assembly of outside is arranged on during concrete application in dial plate, and wrist strap is by elasticity
System into.The signal of the different sensors that central processing unit will be collected carries out operational analysis, and quickly and accurately identification is judged
The motion intention of human body, motor actively applies power-assisted to human body.
Preferably, one end of the shank bar is provided with block, the block is common with the I-shaped structure of thigh bar
Composition stopping means.
Preferably, large and small leg bandage movable regulation on big, leg bar, and the large and small leg bandage is by lock
Button is arranged on big, leg bar, and user manually adjusts the position of bandage according to the comfort level for using, more easypro to reach one
Suitable position.
Preferably, being provided with a flange bearing between the output shaft and thigh bar of the harmonic gear reducer.
Preferably, the large and small leg bar is made up of hard aluminium alloy, the one side that it fits with human body sets flexible sea
Continuous material layer, it is to avoid hard aluminium alloy directly and direct body contact, so as to protect human body skin not receive injury gained in sports.
Preferably, the large and small leg bandage is made up of ventilative canvas material.
Preferably, the direct current generator is DC-disc type motor, it provides power to booster, and based on the booster
It is dynamic to apply power-assisted.
Beneficial effects of the present invention：Simple structure of the present invention is light and handy, easy to wear；And the present apparatus is actively to apply power-assisted,
Significantly reduce the inconvenience of user's action；The present invention can also fast and accurately recognize that human motion is intended to, giving promptly and accurately
Human body applies correct power-assisted；The present invention can be applied not only to power-assisted of walking, it can also be used to kneed rehabilitation.
Brief description of the drawings
Fig. 1 is structural representation of the invention；
Fig. 2 is structural representation of the invention；
Fig. 3 is the structural representation of stopping means of the present invention；
Fig. 4 is the structural representation of wrist sensor assembly；
Wherein：1. thigh bar, 2. shank bar, 3. harmonic gear reducer, 4. direct current generator, 5. thigh bandage, 6. shank
Bandage, 7. thigh acceleration transducer, 8. shank acceleration transducer, 9. D.C. regulated power supply and processor module, 10. thigh
Array of pressure sensors, 11. shank array of pressure sensors, 12. wrist sensor assemblies, 13. blocks, 14. wrist straps.
Specific embodiment
With reference to specific embodiment, the present invention is further detailed explanation.
As shown in Figures 1 to 4, the wearable knee joint booster of a kind of intelligence, actively to apply power-assisted, it includes the booster
Mechanical structure portion and human motion are intended to extract part；The mechanical structure portion includes thigh bar 1, shank bar 2, harmonic wave tooth
Wheel decelerator 3, one end of the thigh bar 1 is the I-shaped structure of I-shaped structure, harmonic gear reducer 3 and thigh bar 1
It is bolted to connection, direct current generator 4 is installed on the harmonic gear reducer 3, the shank bar 2 is installed by flange
Onto the output shaft of harmonic drive 3；Thigh bandage 5 is separately installed with thigh bar 1 and shank bar 2 and shank is tied up
Band 6；
The human motion is intended to extraction unit point includes the large and small leg acceleration sensing being arranged on large and small leg bar 1 and 2
Device 7 and 8, is arranged on D.C. regulated power supply and processor module 9 on thigh bar 1, is arranged on the inner side of large and small leg bandage 5 and 6
Large and small leg array of pressure sensors 10 and 11, and be arranged on outside wrist sensor assembly 12.
The large and small leg acceleration transducer 7 and 8 selects multiaxis or single-axis acceleration sensors, and it is used to detect people
The acceleration and tilt angles of thigh, shank during body walking in sagittal plane, the tilt angles by gyro sensor or
Acceleration transducer can be directly obtained.
The large and small leg array of pressure sensors 10 and 11 is in contact-making switch, capacitance switch or pressure sensor
One or more combination, large and small leg array of pressure sensors 10 and 11 is used to the signal by detecting array-type sensor
Change, obtains the motion intention of human leg.
The wrist sensor assembly 12 is used to realize the extraction of arms swing attitude, and its attitude is including but not limited to swing
Angle, swing speed, the wrist sensor assembly 12 include but is not limited to single-axis acceleration sensors, multiaxis acceleration sensing
Device, gyro sensor, inclinometer or magnetometric sensor.
And wrist sensor assembly 12 is arranged in dial plate during concrete application, and wrist strap 14 is made up of elastomer.
The signal of the different sensors that central processing unit will be collected carries out operational analysis, and the fortune of human body is judged in quickly and accurately identification
It is dynamic to be intended to, direct current generator 4 is driven, actively apply power-assisted to human body, the selection of direct current generator 4 DC system panel in specific application process
Formula motor, but be not limited to disc type electric machine, other direct current generators can also, after calculating human motion and being intended to, processor die
Block sends drive signal to DC-disc type motor, and shank bar is driven by decelerator, actively applies power-assisted, completes the dynamic of lift leg
Make.
One end of the shank bar 2 is provided with block 13, and the block 13 is collectively constituted with the I-shaped structure of thigh bar 1
Stopping means, so as to limit the anglec of rotation of shank bar 2, serves the effect of protection shank.
The large and small leg bandage 5 and 6 movable regulation on big, leg bar 1 and 2, and the large and small leg bandage is by lock
Button is arranged on big, leg bar, and user manually adjusts the position of bandage according to the comfort level for using, more easypro to reach one
Suitable position.
A flange bearing is installed between the output shaft and thigh bar 1 of the harmonic gear reducer 3.
The large and small leg bar 1 and 2 is made up of hard aluminium alloy, and structure is flake, and the one side that it fits with human body is set
Flexible sponge material layer, it is to avoid hard aluminium alloy directly and direct body contact, so as to protect human body skin not damaged by motion
Wound.And the large and small leg bandage 5 and 6 is made up of ventilative canvas material, is tightened with people's leg, the thigh bar and shank bar for being are in fortune
Do not fallen out during dynamic, it will not make one body and not feel well.
Its course of work is：One thigh bar acceleration transducer 7 is installed on thigh bar 1,2 install on shank bar
One shank bar acceleration transducer 8, by gathering the signal of the two sensors, show that the angle between thigh and shank becomes
Change, judge that human motion is intended to using joint angles；A thigh pressure sensor is installed on each inner side of thigh bandage 5
Array 10, installs a shank array of pressure sensors 11 on each shank bandage 6, when human motion, leg muscle can be sent out
Changing, pressure sensor collects the change of muscle, and this signal is converted into electric signal output, is exported according to sensor
Signal judge the motion intention of human body；Also, because the motion of human body is the motion that a upper and lower extremities are coordinated,
A wrist sensor assembly 12 can be dressed at the upper limbs wrist of human body, by gathering the output signal of sensor, is calculated
Draw the athletic posture of upper limbs, it is possible to analyze the motion intention of human body.
Simple structure of the present invention is light and handy, easy to wear；And the present apparatus significantly reduces user's row actively to apply power-assisted
Dynamic inconvenience；The present invention can also fast and accurately recognize human motion intention, and human body of giving promptly and accurately applies correct power-assisted；
The present invention can be applied not only to power-assisted of walking, it can also be used to kneed rehabilitation.
Claims (10)
1. the wearable knee joint booster of a kind of intelligence, it is characterised in that actively to apply power-assisted, it includes machinery to the booster
Structure division and human motion are intended to extract part；The mechanical structure portion includes thigh bar (1), shank bar (2), harmonic wave tooth
Wheel decelerator (3), one end of the thigh bar (1) is the work of I-shaped structure, harmonic gear reducer (3) and thigh bar (1)
Font structure is bolted to connection, and direct current generator (4), the shank bar are provided with the harmonic gear reducer (3)
(2) it is installed on the output shaft of harmonic drive (3) by flange；Pacify respectively on thigh bar (1) and shank bar (2)
Equipped with thigh bandage (5) and shank bandage (6)；
The human motion is intended to extraction unit point includes the large and small leg acceleration transducer being arranged on large and small leg bar (1,2)
(7,8), are arranged on D.C. regulated power supply and processor module (9) on thigh bar (1), are arranged in large and small leg bandage (5,6)
Large and small leg array of pressure sensors (10,11) on side, and it is worn on the sensor assembly (12) in wrist.
2. the wearable knee joint booster of intelligence according to claim 1, it is characterised in that the large and small leg acceleration
Sensor (7,8) selects multiaxis or single-axis acceleration sensors.
3. the wearable knee joint booster of intelligence according to claim 1, it is characterised in that the large and small leg pressure is passed
Sensor array (10,11) is contact-making switch, one kind of multiple the combination in capacitance switch or pressure sensor.
4. the wearable knee joint booster of intelligence according to claim 1, it is characterised in that the one of the shank bar (2)
End is provided with block (13), and the block (13) collectively constitutes stopping means with the I-shaped structure of thigh bar (1).
5. the wearable knee joint booster of intelligence according to claim 4, it is characterised in that the large and small leg bandage (5,
6) the movable regulation on big, leg bar (1,2), and the large and small leg bandage (5,6) is arranged on big, leg bar (1,2) by lock
On.
6. wearable knee joint booster according to claim 1, it is characterised in that the sensing being worn in wrist
Device module (12) selects acceleration transducer or gyro sensor or inclinometer or magnetometric sensor.
7. the wearable knee joint booster of intelligence according to claim 1, it is levied and is, the harmonic gear reducer
(3) flange bearing is installed between output shaft and thigh bar (1).
8. the wearable knee joint booster of intelligence according to claim any one of 1-6, it is characterised in that described large and small
Leg bar (1,2) is made up of hard aluminium alloy, and its one side fitted with human body is provided with elastic sponge material layer.
9. the wearable knee joint booster of intelligence according to claim 7, it is characterised in that the large and small leg bandage (5,
6) it is made up of ventilative canvas material.
10. the wearable knee joint booster of intelligence according to claim 1, it is characterised in that the direct current generator (4) is
DC-disc type motor, it provides power to booster.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710144556.1A CN106863273A (en) | 2017-03-13 | 2017-03-13 | A kind of wearable knee joint booster of intelligence |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710144556.1A CN106863273A (en) | 2017-03-13 | 2017-03-13 | A kind of wearable knee joint booster of intelligence |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106863273A true CN106863273A (en) | 2017-06-20 |
Family
ID=59170149
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710144556.1A Pending CN106863273A (en) | 2017-03-13 | 2017-03-13 | A kind of wearable knee joint booster of intelligence |
Country Status (1)
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107802384A (en) * | 2017-11-22 | 2018-03-16 | 上海大学 | A kind of active hip disarticulation prosthesis control system and control method |
| WO2018232691A1 (en) * | 2017-06-22 | 2018-12-27 | 深圳市肯綮科技有限公司 | Portable power joint apparatus, lower extremity assistive exoskeleton device and control method therefor |
| CN109676585A (en) * | 2018-12-19 | 2019-04-26 | 江苏集萃智能制造技术研究所有限公司 | A kind of hip based on booster, knee joint assistance exoskeleton mechanism |
| CN109746940A (en) * | 2019-01-14 | 2019-05-14 | 电子科技大学 | A kind of device for testing single-DOF-joint torque |
| CN111529319A (en) * | 2020-05-26 | 2020-08-14 | 江西电力职业技术学院 | Step climbing booster, control device and control method |
| CN112263439A (en) * | 2020-10-26 | 2021-01-26 | 重庆电子工程职业学院 | Power-assisted walking device |
| CN114146372A (en) * | 2021-12-01 | 2022-03-08 | 颜瑞雪 | Walking device for rehabilitation training of neurology patient and using method |
| CN114932539A (en) * | 2022-06-30 | 2022-08-23 | 西安理工大学 | Knee joint power assisting and energy harvesting device |
| FR3126329A1 (en) * | 2021-09-02 | 2023-03-03 | Wandercraft | Process for setting an exoskeleton in motion |
| CN117398269A (en) * | 2023-12-13 | 2024-01-16 | 常熟理工学院 | Optical waveguide exoskeleton binding device for muscle force detection |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2018232691A1 (en) * | 2017-06-22 | 2018-12-27 | 深圳市肯綮科技有限公司 | Portable power joint apparatus, lower extremity assistive exoskeleton device and control method therefor |
| CN107802384A (en) * | 2017-11-22 | 2018-03-16 | 上海大学 | A kind of active hip disarticulation prosthesis control system and control method |
| CN109676585A (en) * | 2018-12-19 | 2019-04-26 | 江苏集萃智能制造技术研究所有限公司 | A kind of hip based on booster, knee joint assistance exoskeleton mechanism |
| CN109746940A (en) * | 2019-01-14 | 2019-05-14 | 电子科技大学 | A kind of device for testing single-DOF-joint torque |
| CN111529319A (en) * | 2020-05-26 | 2020-08-14 | 江西电力职业技术学院 | Step climbing booster, control device and control method |
| CN112263439A (en) * | 2020-10-26 | 2021-01-26 | 重庆电子工程职业学院 | Power-assisted walking device |
| FR3126329A1 (en) * | 2021-09-02 | 2023-03-03 | Wandercraft | Process for setting an exoskeleton in motion |
| CN114146372A (en) * | 2021-12-01 | 2022-03-08 | 颜瑞雪 | Walking device for rehabilitation training of neurology patient and using method |
| CN114146372B (en) * | 2021-12-01 | 2023-09-12 | 颜瑞雪 | Walking device for rehabilitation training of neurology patient and use method |
| CN114932539A (en) * | 2022-06-30 | 2022-08-23 | 西安理工大学 | Knee joint power assisting and energy harvesting device |
| CN114932539B (en) * | 2022-06-30 | 2023-06-30 | 西安理工大学 | Knee joint boosting and energy harvesting device |
| CN117398269A (en) * | 2023-12-13 | 2024-01-16 | 常熟理工学院 | Optical waveguide exoskeleton binding device for muscle force detection |
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