CN109953872A - A kind of exoskeleton device and method for walking dynamic auxiliary for the mankind - Google Patents
A kind of exoskeleton device and method for walking dynamic auxiliary for the mankind Download PDFInfo
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- CN109953872A CN109953872A CN201910372908.8A CN201910372908A CN109953872A CN 109953872 A CN109953872 A CN 109953872A CN 201910372908 A CN201910372908 A CN 201910372908A CN 109953872 A CN109953872 A CN 109953872A
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 210000000689 upper leg Anatomy 0.000 claims description 37
- 210000001699 lower leg Anatomy 0.000 claims description 36
- 210000001217 buttock Anatomy 0.000 claims description 20
- 210000002414 leg Anatomy 0.000 claims description 15
- 230000033001 locomotion Effects 0.000 claims description 10
- 230000006870 function Effects 0.000 claims description 8
- 238000013101 initial test Methods 0.000 claims description 4
- 238000005034 decoration Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 2
- 238000004364 calculation method Methods 0.000 claims 1
- 238000004590 computer program Methods 0.000 claims 1
- 230000005611 electricity Effects 0.000 claims 1
- 208000012802 recumbency Diseases 0.000 claims 1
- 210000001694 thigh bone Anatomy 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 4
- 210000003141 lower extremity Anatomy 0.000 abstract description 4
- 206010033892 Paraplegia Diseases 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 6
- 230000008859 change Effects 0.000 description 4
- 230000005484 gravity Effects 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 210000000988 bone and bone Anatomy 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000001179 sorption measurement Methods 0.000 description 2
- 238000012795 verification Methods 0.000 description 2
- 239000012814 acoustic material Substances 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000006386 memory function Effects 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000033764 rhythmic process Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 238000010200 validation analysis 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
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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)
Abstract
A kind of exoskeleton device and method for walking dynamic auxiliary for the mankind, pass through the technologies such as computer 3D avoidance and motor control, lower limb are helped to have disabled or incomplete people, or a kind of traveling method or mode are provided for old people or certain specific crowds, these people are allowed substantially or entirely to get rid of the constraint of crutch, or and improve wheel efficiency, or and lower nurse cost, or and a kind of newer walking manner is provided, the present invention is in particular with technologies such as exoskeleton device and motor controls, for high paraplegia people provide it is a kind of get rid of wheelchair and or crutch walking method, it can help, the present invention relates to wearable device technical fields.
Description
Technical field
This application involves wearable device technical field, more particularly to a kind of walking of lower limb exoskeleton, power assisting device and
Method.
Background technique
The present invention aim at helping by technologies such as computer 3D avoidance and motor controls leg have disabled or incomplete people,
Or a kind of traveling method or mode are provided for old people or certain specific crowds, allow these people substantially or entirely to get rid of crutch
Constraint, or and improve wheel efficiency, or and lower nurse cost, or and a kind of newer walking manner is provided, the present invention
In particular with technologies such as exoskeleton device and motor controls, for high paraplegia people provide one kind get rid of wheelchair and or turn
The method of cane walking.
Summary of the invention
The present invention relates to a kind of walking of lower limb exoskeleton, power assisting device and methods, for helping to lose row completely or partially
The case where walking people's realization walking of ability, or needing to provide lower limb power-assisted for reasons such as rehabilitations.
According to one aspect of the disclosure, a kind of exoskeleton device is provided and is used to support the walking of people or the device of power-assisted,
It is characterised by comprising: buttocks bearing device, thigh exoskeleton device, shank exoskeleton device, foot exoskeleton device, " buttocks
The freedom degree device that bearing device is connected with thigh ectoskeleton ", " the freedom degree dress that thigh ectoskeleton is connected with shank ectoskeleton
Set ", " the freedom degree device that shank ectoskeleton is connected with foot ectoskeleton ", several structured light sensors, the collection of travelling control information
Device, controller, several cameras (optional), distance measuring sensor (optional).
Preferably, the mainly fixed buttocks of buttocks bearing device or and waist, play support human body and load-bearing effect, and portion
There are the equipment such as computer, battery in administration, if the heavier-weight or larger of computer, battery, motor in certain embodiments,
Can by computer or and battery be placed in the knapsack added, allow user's back, with reach disperse weight or and convenient relax
Suitable purpose.
Preferably, buttocks bearing device is segmented into left and right two parts, and left and right two parts can be dressed respectively, can after wearing
To be fixed together.
Preferably, thigh exoskeleton device is to fixed thigh, or replaces thigh to adjust the support of body and center of gravity and make
With.
Preferably, thigh ectoskeleton is connected with two sets of freedom degrees respectively up and down, be respectively it is upper connection " buttocks bearing device and
The freedom degree device of thigh ectoskeleton connection " and lower connection " the freedom degree device that thigh ectoskeleton is connected with shank ectoskeleton ".
Preferably, shank exoskeleton device is to fixed shank, or replaces shank to adjust the support of body and center of gravity and make
With.
Preferably, shank ectoskeleton is connected with two sets of freedom degrees respectively up and down, is upper connection " thigh ectoskeleton and small respectively
The freedom degree device of leg ectoskeleton connection " and lower connection " the freedom degree device that shank ectoskeleton is connected with foot ectoskeleton ".
Preferably, foot exoskeleton device is to fixed feet, or replaces support and adjustment effect of the foot to body, and mainly use
In contact ground.
Preferably, " the freedom degree device that shank ectoskeleton is connected with foot ectoskeleton " is connected in foot exoskeleton device.
Preferably, foot exoskeleton device may need foot type more actual than people larger, or increase the length of heel simultaneously
Degree keeps balancing or realizing under given pose more stable stance to meet, or in the conversion process for realizing stance
In reduce the external force that people may need to a certain extent.
Preferably, " the freedom degree device that buttocks bearing device is connected with thigh ectoskeleton ", " thigh ectoskeleton and shank
The freedom degree device of ectoskeleton connection ", " the freedom degree device that shank ectoskeleton is connected with foot ectoskeleton " can include one kind
Or more than one freedom degrees.
It is alternatively possible to limit the maximum rotation speed of freedom degree as possible by the method for limiting transmission belt or gear rotational speed
Degree, to guarantee there is protective effect to wearer in extreme circumstances.
Preferably, thigh exoskeleton device, shank exoskeleton device, foot exoskeleton device and associated freedom device
To adjust length, with adapt to different situations or and reach comfortable purpose, can have memory function or local fixing to prevent
It repeats to adjust when only using every time.
Preferably, when practical wearing leg ectoskeleton is completed, can after user verification, according to whether have leg ectoskeleton or
The component of foot ectoskeleton, and the parameter that pre-sets adjust the hard-over of freedom degree, to guarantee comfortable and utmostly send out
Wave the available angle of each freedom degree.
Optionally, the present apparatus can only dispose unilateral equipment, can also dispose two sides simultaneously when actual deployment
Equipment, computer need to be comprehensively considered according to current deployment scenario when calculating and controlling information, including but not limited to, when only portion
When administration's unilateral side equipment, to input the various parameters of the foot and leg do not disposed or not equip that batter of the invention according to user
And the case where leg, selects default group information from database, with relevant parameter and the rhythm etc. for determining the ectoskeleton of deployment.
Preferably, thigh ectoskeleton and shank ectoskeleton can increase some decorations to look more like thigh or small
Leg.
Preferably, thigh ectoskeleton or and shank ectoskeleton covering ornament in can increase radiator to reduce
Temperature.
Preferably, thigh ectoskeleton or and shank ectoskeleton covering ornament in can increase electric calorifie installation to increase
Or keep temperature.
Preferably, foot ectoskeleton can increase some decorations to look more like shoes.
Preferably, the components such as foot ectoskeleton can increase water-tight device.
Preferably, the thigh exoskeleton device, shank exoskeleton device, foot exoskeleton device, " buttocks bearing device and
The freedom degree device of thigh ectoskeleton connection ", " the freedom degree device that thigh ectoskeleton is connected with shank ectoskeleton ", " outside shank
The freedom degree device that bone is connected with foot ectoskeleton " can all divide left side, right side two parts, in principle bilateral symmetry.
Preferably, power source or and the kind of drive may be selected to include but is not limited to motor, hydraulic, electro-hydraulic hybrid mode, must
It can be in thigh exoskeleton device, shank exoskeleton device, foot exoskeleton device, " buttocks bearing device and thigh ectoskeleton when wanting
The freedom degree device of connection ", " the freedom degree device that thigh ectoskeleton is connected with shank ectoskeleton ", " outside shank ectoskeleton and foot
Associated power source Huo and transmission device are carried respectively at necessity in the freedom degree device of bone connection ".
Preferably, several structured light sensors are the devices for obtaining the depth information of environment at one's side, can be by depth
Information is sent to computer to determine where stop over, or and provide depth-related information to instruct, control the cooperation of each device to reach
To the purpose of walking.
Preferably, structured light sensor is preferentially arranged on leg, on waist, on foot.
Preferably, travelling control information collection apparatus is mainly to be made of the gyroscope of several connections on computers, top
Information, the human body both shoulders such as the main movement for collecting two shoulders and waist can be identified as transporting forward by spiral shell instrument when leaning forward simultaneously
It is dynamic, lane change to the left or lane change to the right can be identified as when both shoulders are left-leaning or Right deviation, both shoulders do left-hand rotation or when right-hand rotation acts can be known
Not at turning left and turn right.
Further, described to lean forward or forward criterion is mainly degree of the both shoulders gyroscope relative to waist gyroscope
Number can also correct to obtain benchmark gyroscope and reach specific mesh referring to option the judgements made in certain stage to more gyroscopes
, such as situations such as while aboard ship rocking goes ahead.
Optionally, it may be necessary to user of service be giveed training to make it more skillfully grasp travelling control information and collect dress
It sets and the control of other devices, operating method.
It preferably, can be according to determining that travelling control information collection apparatus identifies various movements the case where user of service
Susceptibility and or the information such as response parameter.
Preferably, controller is to be expressed for controlling the posture that computer calculates by associated freedom cooperation
Device, when necessary can to every set freedom degree increase joint force feedback sensor to reach better experience.
Optionally, controller can increase the equipment that a control panel or control handle etc can have button operation,
To complete to be switched to the operational order transmitter of another mode or posture from one mode or posture manually.
Optionally, controller may include a kind of mode of lock, and the conversion between carry out mode could be operated after unlock,
By the mode of this lock, the conversion of the incorrect posture or mode of accidentally touching and progress can be reduced at least to some extent.
Optionally, controller operation panel can increase a lid, to play Anti-splashing sanitary and reduce the possibility etc. of accidentally touching
Effect.
Preferably, controller can assist carrying out the setting of parameter or numerical value by mobile phone or computer connection.
Optionally, the function of controller can also be completed by the application of mobile phone connection, or in certain embodiments
In the function of controller panel can also be operated by voice.
Preferably, several cameras (optional) provide auxiliary to adjusts path details when walking or for Emergency avoidance
Information, or auxiliary information etc. is provided for processing emergency.
Optionally, in some embodiments, actively evacuation or computer can be increased based on camera according to demand
It forces to stop and the functions such as stops.
Preferably, in some embodiments, distance measuring sensor to adjusts path details when walking or is urgent
Evacuation provide auxiliary information, for processing emergency or and force stop stop providing auxiliary information.
Preferably, the brake stopping time can keep as possible the center of gravity of user, in order to avoid fall down.
According to one aspect of the disclosure, a kind of method that exoskeleton device is used to support the walking or power-assisted of people is provided,
It is characterised by comprising: dressing the initial testing mode after finishing, standing pattern, walking mode, mode of sitting down, mould of squatting down
Formula, creep mode take off mode.
Initial testing mode after wearing finishes is exactly to dress to finish to start computer later initially to joint and fixation
Effect carry out checksum test mode, this stage can each joint freedom degrees of low-speed activity, reach as possible expectation or and setting
Freedom degree maximum angle, people can decide whether to adjust the fixation of each ectoskeleton according to the movable effect of freedom degree
Situations such as with wearing.
Standing pattern is (either to dress the posture finished from current posture or sit down posture or posture of squatting down
Deng) mode that is transformed into stance and keeps, computer in apparatus of the present invention can according to the current angular of each freedom degree and
The expected angle of each freedom degree when stance come determine each freedom degree corner and rotation precedence and cooperation etc. feelings
Condition, come be accomplished to stance movement planning and execution.
Walking mode is main Move Mode, at this time mainly by travelling control information collection apparatus come secondary computer
It operates the direction of walking and determines the movement of specific foot and leg when walking at least to some extent.
Preferably, computer can determine the specific movement stopped over according to the depth information of structured light sensor when stopping over,
And during foot exoskeleton device touches foothold, determined according to the posture of each ectoskeleton, force feedback, gyroscope information
It sets the tone the angle for saving each freedom degree, angular speed, dynamics etc..
Preferably, computer can preferentially avoid the protrusion on road surface by the method for the step-length of shortening foothold when walking
Place.
It preferably, can be according to itself each freedom degree if when walking not can avoid when foot ectoskeleton is fallen in high spot
Information and angular range calculate more stable posture or posture as far as possible, to reach optimal experience and impression.
Preferably, computer can determine when controlling the walking of each freedom degree according to prior preparation or preset parameter
The speed and maximum angle of fixed each freedom degree rotation, as much as possible to provide relatively comfortable experience for user.
Preferably, the speed of travel or and intensity it is adjustable, to meet the comfortable row of various conditions of demand to a greater extent
Huo and stationarity.
Preferably, travelling control information collection apparatus mainly provides walking side to computer by each gyroscope information
To or and speed major parameter foundation, can by mobile phone, controller or computer connect be arranged travelling control information collect
The parameters such as the susceptibility of device.
Mode of sitting down is usually that the one mode for posture of sitting down, the information such as specific posture of sitting down are switched to from stance
It can adjust or set in controller, the relevant detection of some health and prompt can be had, such as having sat long can be with certain shape
Formula prompts user to change posture etc..
The mode of squatting down is to switch to posture of squatting down, and is able to maintain the one mode centainly balanced, can have
The relevant detection of health and prompt, such as squatted long and prompt user can change posture with some form.
Creep mode is a kind of movable mode based on posture of creeping, and the specific direction of motion mainly passes through control
Device control, and be able to pass through the controller to be finally switched to other modes.
Preferably, each freedom degree can adjust performance according to force feedback, to encounter blocking or stronger external force
When avoid the occurrence of larger collision or accident.
The mode of taking off is to take off the one mode specially prepared for convenience, takes off and guarantees safer to facilitate.
It is alternatively possible to more rich wearing mode be provided for specific crowd or function, to facilitate device in the present invention to wear
Wearing or reach the wearing stage need to certain purpose to be achieved.
Preferably, can guarantee fall down as possible under standing pattern and walking mode, the even interference in stronger external force
Under, keep relatively balance mainly to pass through gyroscope, sensor, power source, drive apparatus, automatically controlled by self-contained computer
The devices such as damping cooperate completion.
Preferably, it may be necessary to which the component big to noise reduces noise by wrapping up, decorating the method for acoustic material.
Optionally, apparatus of the present invention have charging interface more convenient, faster and mode, and more conveniently battery roll
Scheme and implementation method.
Optionally, in certain embodiments, magnet or electromagnet etc. can be increased to foot ectoskeleton and has adsorption capacity
Attachment or peripheral hardware reach certain specific adsorption functions, and walking reference axis can be arranged by mobile phone or computer in such cases
Meet this mobile purpose in special circumstances, with gravity direction to assist job that requires special skills.
It is alternatively possible to which the implementation power to freedom degree is configured, to increase the protection to people.
Optionally, the validation verification to current route can be increased when walking mode, can stop if necessary stop and to
Voice prompting out, and can be open by manually completing the pressure for stopping route to current brake after confirming in mobile phone application.
It is alternatively possible to increase one or two assist handle to controller to facilitate faster operation.
It is a specific embodiment of the invention above, but protection scope of the present invention should not be limited to thoses mentioned above.It is any to be familiar with sheet
Within the technical scope disclosed by the invention, any changes or substitutions that can be easily thought of by the technical staff in field, should all cover at this
Within the protection scope of invention, therefore protection scope of the present invention should be determined by the scope of protection defined in the claims.
Claims (8)
1. a kind of exoskeleton device characterized by comprising buttocks bearing device, thigh exoskeleton device, shank ectoskeleton dress
It sets, foot exoskeleton device, " the freedom degree device that buttocks bearing device is connected with thigh ectoskeleton ", " thigh ectoskeleton and shank
The freedom degree device of ectoskeleton connection ", " the freedom degree device that shank ectoskeleton is connected with foot ectoskeleton ", structured light sensor,
Travelling control information collection apparatus, controller, camera (optional), distance measuring sensor (optional)；
The buttocks bearing device by bandage and or waistband connect human body, play the fixed function of main buttocks and waist, and
And the equipment such as computer, battery, motor can be accommodated；
As an alternative embodiment, a knapsack can be increased on the buttocks bearing device, can be accommodated in knapsack
The equipment such as computer, battery, motor, to reduce the size and weight of buttocks bearing device, equipment can be held with buttocks in knapsack
Rest device connection；
As an alternative embodiment, the buttocks bearing device is segmented into left and right two parts, this two parts connects respectively
Several exoskeleton devices for having connect left leg and right leg can satisfy and dress or install left leg ectoskeleton and right leg ectoskeleton respectively,
And left and right two parts of buttocks bearing device can connect together with or be fixed together；
The thigh exoskeleton device be mainly used to support or and fixed thigh device, customizable length or adjustable
Length, can be by way of including but is not limited to encircle encirclement or the form of bandage is fixed with the thigh length of suitable user
Thigh；
As an alternative embodiment, the thigh exoskeleton device can be customized according to specific user, such as
The user for losing thigh completely closed thigh ectoskeleton can be used or save installation fixed thigh associated components；
The shank ectoskeleton be mainly used to support or and fixed shank device, customizable length or adjustable length
It, can be by way of including but is not limited to encircle encirclement or the fixation of the form of bandage is small with the lower-leg length of suitable user
Leg；
As an alternative embodiment, the shank exoskeleton device can be customized according to specific user, such as
The user for losing shank completely closed shank ectoskeleton can be used or save installation fixed shank associated components；
The foot exoskeleton device is the device for being mainly used to fixed feet, and and ground face contact, be to maintain balance and frictional force
Main source acquisition device, necessary external force can be provided in job that requires special skills by electromagnet, magnet；
As an alternative embodiment, the foot exoskeleton device can one layer of outer surface cover look like shoes, have
Decoration functions and it can satisfy peripheral hardware or set with ground or contactant friction；
" the freedom degree device that buttocks bearing device is connected with thigh ectoskeleton " is used for will be outside buttocks bearing device and thigh
Bone links together, and is capable of providing the device of one or more kinds of freedom degrees；
" the freedom degree device that thigh ectoskeleton is connected with shank ectoskeleton " is used for thigh ectoskeleton and shank ectoskeleton
It links together, and is capable of providing the device of one or more kinds of freedom degrees；
" the freedom degree device that shank ectoskeleton is connected with foot ectoskeleton " is for connecting shank ectoskeleton with foot ectoskeleton
Together, and it is capable of providing the device of one or more kinds of freedom degrees；
Several structured light sensors are used to collect the depth information on periphery, to calculate and control each freedom degree as computer
Complete one of the information foundation of required movement or target；
The travelling control information collection apparatus is used to collect the data such as direction and the speed of control walking, in terms of as computer
Calculate and control the main information foundation of direction of travel and speed；
The controller is under certain conditions, to control package unit by hand to execute or switch certain specific action or mode
Control device, controller can send control signals to computer, by computer according to current state or and mode calculate
Concrete operations or movement；
The camera (optional) is the device for collecting ambient image information；
The distance measuring sensor (optional) is the device for collecting surrounding objects range information.
2. the pattern base of a kind of ectoskeleton traveling method or power-assisted characterized by comprising dress the initial testing after finishing
Mode, standing pattern, walking mode, mode of sitting down, mode of squatting down, creep mode take off mode；
Situations such as initial testing mode after finishing is used to check the wearing situation of device, the comfort level in joint is dressed, so as to
The one mode to adjust before actual use to fixed position or method details；
Standing pattern is the mode based on the posture that stands still, and can remain to finally keep standing under stronger External force interference
The one mode of posture；
Walking mode is the one mode that direction of travel is influenced by travelling control information collection apparatus；
The mode of sitting down is a kind of mode based on the posture being seated；
The mode of squatting down be it is a kind of based on couchant posture and can kept in balance mode；
Creep mode is a kind of mode by all fours or based on the posture of recumbency；
The mode of taking off is a kind of mode facilitated take off.
3. a kind of method of ectoskeleton walking or power-assisted characterized by comprising
Step 1: with exoskeleton device of the present invention is clothed to, fixing, and checks fixed and connection；
Step 2: by exoskeleton device of the present invention be clothed to after, start computer system operation logic, first can later
By turning joint at a slow speed and or the method for freedom degree, the connection and fixing situation of human body, equipment and each joint are checked；
Step 3: user can operate controller or mobile phone is applied and enters upright state, to prepare to walk about to prepare；
Step 4: after being switched to walking mode, during walking about, computer mainly passes through travelling control information collection apparatus
Data come the direction for determining walking and speed about, and be mainly according to the depth data of several structured light sensors come
Situations such as instep angle when determining specific foothold and stopping over or data；
Step W1: computer is mainly the direction and about for instructing by the data of travelling control information collection apparatus walking
Speed；
Step W2: computer is mainly the road surface according to the direction that will be walked in the depth data of several structured light sensors
Information and the speed of travel are come data such as the direction and the height that determine foot-up and foot advanced in years；
Step W3: when stopping over, computer is mainly according to the depth data and gyro data of several structured light sensors, current
The data such as posture determine the angle of instep, to complete relatively smoothly landing；
Step 5: after the completion of use, mode of sitting down can be entered or take off mode to take off apparatus of the present invention.
4. a set of be stored in the computer-readable computer mobile control system write in medium, when computer is believed according to travelling control
It ceases with the information such as periphery depth information and gyroscope information after obtaining control signal, control can be sent control signals to
System completes required movement by the freedom degree of control system control both feet, and for calculate the angle of each freedom degree,
The information such as intensity.
5. one kind is computer-readable to write medium, it is stored thereon with computer program and related data, which is characterized in that described program
Relevant calculation function and content of the invention is realized when being executed by processor.
6. a kind of electronic equipment characterized by comprising
One or more processors；
One or more video cards (optional)；
Storage device, for storing one or more programs.
7. several structured light sensors characterized by comprising
Be mainly distributed on leg and or waist on and or foot on, for ambient enviroment depth information and specifically being done for computer collection
Depth information foundation is provided when movement.
8. several motors characterized by comprising
Power source can be provided for freedom degree under the driving of electricity.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910372908.8A CN109953872A (en) | 2019-05-06 | 2019-05-06 | A kind of exoskeleton device and method for walking dynamic auxiliary for the mankind |
| PCT/CN2020/088558 WO2020224565A1 (en) | 2019-05-06 | 2020-05-02 | Exoskeleton device for assisting human with walking, and method therefor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910372908.8A CN109953872A (en) | 2019-05-06 | 2019-05-06 | A kind of exoskeleton device and method for walking dynamic auxiliary for the mankind |
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| CN109953872A true CN109953872A (en) | 2019-07-02 |
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| CN201910372908.8A Pending CN109953872A (en) | 2019-05-06 | 2019-05-06 | A kind of exoskeleton device and method for walking dynamic auxiliary for the mankind |
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| WO (1) | WO2020224565A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111544263A (en) * | 2020-05-19 | 2020-08-18 | 广东博方众济医疗科技有限公司 | Walking aid control method, device, equipment, system and computer storage medium |
| WO2020224565A1 (en) * | 2019-05-06 | 2020-11-12 | 于毅欣 | Exoskeleton device for assisting human with walking, and method therefor |
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| CN104523404B (en) * | 2009-07-01 | 2018-04-13 | 瑞克仿生学有限公司 | The control system of mobility aid |
| KR102073001B1 (en) * | 2013-11-29 | 2020-02-04 | 삼성전자주식회사 | Wearable robot and method for controlling the same |
| CN103610568B (en) * | 2013-12-16 | 2015-05-27 | 哈尔滨工业大学 | Human-simulated external skeleton robot assisting lower limbs |
| CN103932868B (en) * | 2014-04-21 | 2017-05-24 | 清华大学 | Control method for paraplegia waling-assisted power exoskeleton |
| CN109953872A (en) * | 2019-05-06 | 2019-07-02 | 异起(上海)智能科技有限公司 | A kind of exoskeleton device and method for walking dynamic auxiliary for the mankind |
-
2019
- 2019-05-06 CN CN201910372908.8A patent/CN109953872A/en active Pending
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2020
- 2020-05-02 WO PCT/CN2020/088558 patent/WO2020224565A1/en active Application Filing
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020224565A1 (en) * | 2019-05-06 | 2020-11-12 | 于毅欣 | Exoskeleton device for assisting human with walking, and method therefor |
| CN111544263A (en) * | 2020-05-19 | 2020-08-18 | 广东博方众济医疗科技有限公司 | Walking aid control method, device, equipment, system and computer storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2020224565A1 (en) | 2020-11-12 |
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