CN112451319A - Exoskeleton joint system for assisting walking - Google Patents
Exoskeleton joint system for assisting walking Download PDFInfo
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- CN112451319A CN112451319A CN202011330843.XA CN202011330843A CN112451319A CN 112451319 A CN112451319 A CN 112451319A CN 202011330843 A CN202011330843 A CN 202011330843A CN 112451319 A CN112451319 A CN 112451319A
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- energy storage
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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
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
-
- 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
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
-
- 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
- A61H2205/106—Leg for the lower legs
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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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/12—Feet
-
- 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
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/62—Posture
- A61H2230/625—Posture used as a control parameter for the apparatus
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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
The invention relates to an exoskeleton joint system for assisting walking, and belongs to the field of rehabilitation medical and engineering instruments. The exoskeleton joint system includes a foot support, a leg support, an active drive, and a passive energy storage. The exoskeleton joint system adopts an active driving piece as a linear driving element, and enables a user to carry out dorsiflexion action by means of self power when swinging; the passive energy storage member is used as a buffering and energy storage element, is compressed before the heel of the user touches the ground and the toe of the user touches the ground, and releases the stored energy to help the user to complete toe bending action when the toe of the user pushes the ground. The foot pressure sensor and the attitude instrument are matched for use, information such as gait phase of a user is judged, and the expansion and contraction of the active driving piece are controlled after the information is analyzed, so that different action steps of the exoskeleton joint system are completed. The exoskeleton joint system is simple in structure, uncomplicated in control logic, stable, reliable, light in weight and more comfortable to wear.
Description
Technical Field
The invention belongs to the field of rehabilitation medical and engineering instruments, and particularly relates to an exoskeleton joint system for assisting walking.
Background
At present, the instruments used for rehabilitation of ankle joints mainly comprise two types, namely unpowered instruments and powered instruments. The unpowered ankle joint rehabilitation instrument only provides supporting and fixing functions for the ankle joint of a user, and has gait abnormity problems of landing and dragging of the tiptoe when the user needs to walk; the powered ankle joint rehabilitation instrument can complete power assisting of toe bending and dorsiflexion, can solve the problems of toe landing, dragging and the like to a certain extent, but is composed of a motor, a linear guide rail, a thread rope, a guide shaft and other parts, has a complex structure, low transmission efficiency, a large body size and heavy weight, causes the ankle joint of a user to generate a load feeling, influences the rapidity of the power assisting due to the ductility of the thread rope, and causes poor matching between the ankle joint motion of the user and the exoskeleton ankle joint motion; in addition, the control logic of the currently powered exoskeleton ankle joint is complex, the exoskeleton ankle joint is generally linked with the knee joint and the hip joint, more sensing data is needed, and the exoskeleton ankle joint cannot stably work due to factors such as the change of the inclination angle of a human body in the actual use process.
Disclosure of Invention
In view of the above, an object of the embodiments of the present invention is to provide an exoskeleton joint system for walking assistance, which is attached to the feet and legs of a user, and uses active driving members as linear driving members to enable the user to perform dorsiflexion actions by means of self-power during swinging phase; the passive energy storage member is used as a buffering and energy storage element, is compressed before the heel of the user touches the ground and the toe of the user touches the ground, and releases the stored energy to help the user to complete toe bending action when the toe of the user pushes the ground. The foot pressure sensor and the attitude instrument are matched for use, information such as gait phase of a user is judged, and the expansion and contraction of the active driving piece are controlled after the information is analyzed, so that different action steps of the exoskeleton joint system are completed. The exoskeleton joint system is simple in structure, uncomplicated in control logic, stable, reliable, light in weight and more comfortable to wear.
The embodiment of the invention is realized by the following steps:
embodiments of the present invention provide an exoskeleton joint system for walking assistance that includes a foot support, a leg support, an active drive, and a passive energy storage.
The leg support piece with the foot support piece is articulated, the both ends of active drive spare respectively with the rear end of foot support piece with leg support piece is articulated, the both ends of passive energy storage spare respectively with the front end of foot support piece with leg support piece is articulated.
The exoskeleton joint system has a first state that the active driving piece actively stretches and the passive energy storage piece adaptively and passively stretches, and a second state that the passive energy storage piece actively stretches and the active driving piece adaptively and actively stretches.
As an alternative to the above embodiment, the exoskeleton joint system further comprises a sole pressure sensor disposed at the front end of the foot support and configured to sense a foot pressure signal, and a posture meter disposed at the leg support and configured to detect a gait phase and a motion parameter so as to control the extension and retraction of the active driving member.
As an alternative to the above embodiment, the active drive employs a servo electric cylinder, and the attitude indicator controls the servo electric cylinder through an encoder.
As an alternative to the above embodiment, the number of passive energy storage members is two, and the two passive energy storage members are oppositely disposed on both sides of the foot support.
As an alternative to the above embodiment, the passive energy storage member is a gas spring.
As an alternative to the above embodiments, the exoskeleton joint system further comprises an articulated support plate, the bottom of which is connected to the foot support and the top of which is articulated to the leg support, the articulation of the leg support to the articulated support plate matching the ankle joint.
As an alternative to the above-described embodiments, the hinged support plate and the foot support may be removably connected.
As an alternative of the above embodiment, the number of the hinged support plates is two, two hinged support plates are disposed on two sides of the foot support, the leg support includes a fixing member and two fixing frames, the two fixing frames are hinged to the two hinged support plates, two ends of the fixing member are respectively connected to the two fixing frames, and one side of the fixing member, which is close to the leg, is an arc-shaped surface.
As an alternative of the above embodiment, the number of the fixing members is two, the two fixing members are vertically distributed, and two ends of each fixing member are respectively connected to the two fixing frames.
As an alternative to the above embodiment, the foot support is provided with a foot strap.
As an alternative to the above embodiment, the leg support is provided with a leg strap.
The invention has the beneficial effects that:
according to the exoskeleton joint system for assisting walking, the foot fixing piece is used for being fixed with the foot of a user, the leg fixing piece is used for being fixed with the shank of the user, the hinged part of the foot fixing piece and the leg fixing piece is adjacent to an ankle joint and the rotating direction of the foot fixing piece and the leg fixing piece is consistent, the active driving piece is used as a linear driving element, and when the exoskeleton joint system swings, the user can perform dorsiflexion action by means of self power; the passive energy storage member is used as a buffering and energy storage element, is compressed before the heel of the user touches the ground and the toe of the user touches the ground, and releases the stored energy to help the user to complete toe bending action when the toe of the user pushes the ground. The foot pressure sensor and the attitude instrument are matched for use, information such as gait phase of a user is judged, and the expansion and contraction of the active driving piece are controlled after the information is analyzed, so that different action steps of the exoskeleton joint system are completed. The exoskeleton joint system is simple in structure, uncomplicated in control logic, stable, reliable, light in weight and more comfortable to wear.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts. The above and other objects, features and advantages of the present invention will become more apparent from the accompanying drawings. Like reference numerals refer to like parts throughout the drawings. The drawings are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the invention.
Fig. 1 is a schematic structural diagram of an exoskeleton joint system for walking assistance according to an embodiment of the present invention;
FIG. 2 shows a front view of FIG. 1;
figure 3 shows a control system block diagram for the exoskeleton joint system.
Icon:
10-exoskeleton joint system;
11-a foot support; 12-a leg support; 13-hinged support plates; 14-an active drive; 15-passive energy storage means; 16-plantar pressure sensors; 17-an attitude instrument;
110-foot strap; 120-a fixture; 121-a fixing frame; 122-leg straps; 140-servo electric cylinder; 141-encoder.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
Referring to fig. 1 and 2, an embodiment of the present invention provides an exoskeleton joint system 10 for walking assistance, wherein the exoskeleton joint system 10 is used for rehabilitation of a user with abnormal gait.
The exoskeleton joint system 10 is mainly composed of the following components: a foot support 11, an articulated support plate 13, a leg support 12, a plantar pressure sensor 16, a posture meter 17, an active drive 14 and a passive energy storage 15.
Specifically, the foot support 11 may have a plate-shaped structure, the foot strap 110 may be disposed on the foot support 11, the foot strap 110 may be adapted to feet with different sizes, the foot support 11 is used for supporting the feet of the user, and the foot strap 110 is used for fixing the feet of the user and the foot support 11. Of course, in other embodiments, other configurations for the foot support 11 may be used.
In this embodiment, the number of the hinged support plates 13 is two, and the two hinged support plates 13 are disposed on two sides of the foot support 11, where the two sides of the foot support 11 refer to the left and right sides of the foot support 11, i.e., the two sides of the user's foot.
The hinged support plate 13 is of a plate-shaped structure, the bottom of the hinged support plate 13 is fixed to the foot support 11 by bolts or the like and connected, and the hinged support plate 13 is detachable from the foot support 11.
The leg support 12 comprises a fixing member 120, two fixing brackets 121 and at least one leg strap 122.
The two fixing frames 121 are relatively hinged to the two hinged support plates 13, two ends of the fixing member 120 are respectively connected with the two fixing frames 121, and one side of the fixing member 120 close to the leg portion is an arc-shaped surface.
In this embodiment, the number of the fixing members 120 is two, the two fixing members 120 are divided into an upper and a lower independent parts, and two ends of each fixing member 120 are respectively connected to the two fixing frames 121, that is, the two fixing members 120 are fixed to the leg portions in two segments.
The articulation of the leg support 12 with the articulation support plate 13 matches the ankle joint.
The leg straps 122 are connected to the two fixing frames 121, respectively, for fixing the lower leg of the user to the leg supporter 12.
The "leg support 12 is hinged to the foot support 11" in the present embodiment, and the leg support 12 may be directly hinged to the foot support 11, or the leg support 12 may be indirectly hinged to the foot support 11 through the hinge support plate 13, but it should be noted that: whether directly or indirectly, the hinge point must match the user's ankle.
In other embodiments, a plurality of hinge points at different positions may be provided on the hinge support plate 13, and the leg support member 12 may be alternatively hinged to the hinge support plate 13 at a selected one of the hinge points, which may be configured to accommodate users with different ankle heights.
The active driving component 14 is self-powered, in this embodiment, the active driving component 14 adopts a servo electric cylinder 140 with a self-contained encoder 141, in other embodiments, it can also adopt a form of a hydraulic cylinder, etc., and the extension and retraction of the active driving component 14 are completely driven by self-power.
The active driving member 14 is hinged at both ends to the rear end of the foot support 11 and the leg support 12, respectively, and the hinge point of the active driving member 14 to the foot support 11 may be adjacent to the heel of the user.
The passive energy storage member 15 itself does not have power, mainly depends on the external force action and self potential energy to stretch out and draw back, and in this embodiment, the passive energy storage member 15 adopts the air spring, and of course, the passive energy storage member 15 can also adopt the pressure spring etc.
The number of the passive energy storage members 15 is two, and the two passive energy storage members 15 are oppositely disposed at two sides of the foot support 11.
The two ends of the passive energy storage member 15 are hinged to the front end of the foot support 11 and the leg support 12, respectively, and the point of articulation of the passive energy storage member 15 to the foot support 11 is adjacent to the phalanges of the user, which is a location that is more effective in applying force to the user's foot.
When the heel of the user touches the ground and the toes touch the ground, the passive energy storage member 15 is gradually compressed and stores energy, and when the toes of the user step on the ground, the energy stored in the passive energy storage member 15 is released to provide assistance for the user.
The exoskeleton joint system 10 has a first state in which the active drive member 14 is actively extended and the passive energy storage member 15 is adaptively and passively extended and a second state in which the passive energy storage member 15 is actively extended and the active drive member 14 is adaptively and actively extended.
The terms "active" and "passive" in this embodiment are relative terms. The active driving of the active driving member 14 is realized by self power, and the active driving of the passive energy storage member 15 is realized by gravity applied by a user and self elastic potential energy. In the first state, the active driving member 14 is used as the main component to realize the rotation of the foot support 11 relative to the leg support 12, and in the second state, the passive energy storage member 15 is used as the main component to realize the rotation of the foot support 11 relative to the leg support 12.
The hinged part of the passive energy storage element 15 and the foot supporting element 11 is located at the front end of the foot supporting element 11, so that power can be provided for the user's pedaling to ground, and if the hinged part of the passive energy storage element 15 and the foot supporting element 11 is located at the front end of the foot supporting element 11, when the passive energy storage element 15 extends, only the toe of the user is driven to lift and separate from the ground, so that assistance is difficult to be provided for the user's pedaling to ground.
The sole pressure sensor 16 is disposed at the front end of the foot support 11 and is used for sensing a foot pressure signal, and the posture instrument 17 is disposed at the leg support 12 and is used for detecting a gait phase and a motion parameter.
The plantar pressure sensor 16 and the attitude indicator 17 are used in cooperation to judge information such as gait phases of the user, and the information is analyzed to control the expansion and contraction of the active driving part 14, so that different steps of the exoskeleton joint system 10 are completed.
The attitude indicator 17 controls the servo cylinder 140 through the encoder 141.
The control method of the plantar pressure sensor 16 and the posture instrument 17 is shown in fig. 3.
The exoskeleton joint system 10 for walking assistance provided by the embodiment works according to the following principle and process:
starting from the point that the heel of the right foot is just landed during walking, the heel part of the foot support 11 (the motion of the right foot is consistent with the motion of the foot support 11) is landed, and at this time, the servo cylinder 140 and the gas spring are in the initial positions;
the foot part of the foot supporting part 11 is over to the toe part and touches the ground, at the moment, the air spring is gradually compressed, the air spring starts to store energy, in the process, the plantar pressure sensor 16 and the attitude instrument 17 detect that the foot is in a supporting phase, and the servo electric cylinder 140 actively extends along with the air spring;
the foot support 11 integrally contacts the ground;
the foot part of the foot support 11 is excessively detached from the ground to land only at the toe part;
the energy stored in the gas spring is released, the gas spring extends to help a user to finish the action of pedaling the ground, and in the process, the servo electric cylinder 140 actively begins to shorten along with the gas spring;
the toe part of the foot supporting part 11 is separated from the ground, the foot pressure sensor 16 and the attitude instrument 17 detect that the foot is in the swing phase, so that the foot of the user carries out dorsiflexion action, namely the servo electric cylinder 140 firstly actively extends, the gas spring is passively shortened at the moment, then the servo electric cylinder 140 actively shortens again, and the gas spring is passively extended at the moment.
The exoskeleton joint system 10 returns to the initial position.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. An exoskeleton joint system for walking assistance comprising a foot support, a leg support, an active drive and a passive energy storage;
the leg supporting part is hinged with the foot supporting part, two ends of the active driving part are respectively hinged with the rear end of the foot supporting part and the leg supporting part, and two ends of the passive energy storage part are respectively hinged with the front end of the foot supporting part and the leg supporting part;
the exoskeleton joint system has a first state that the active driving piece actively stretches and the passive energy storage piece adaptively and passively stretches, and a second state that the passive energy storage piece actively stretches and the active driving piece adaptively and actively stretches.
2. An exoskeleton joint system as claimed in claim 1 further comprising a foot pressure sensor disposed at the front end of the foot support for sensing foot pressure signals and a posture meter disposed at the leg support for detecting gait phase and motion parameters to control the extension and retraction of the active drive.
3. An exoskeleton joint system as claimed in claim 2 wherein the active drive is a servo electric cylinder and the attitude sensor controls the servo electric cylinder via an encoder.
4. The system of claim 1, wherein the number of passive energy storage members is two, and two passive energy storage members are disposed opposite each other on either side of the foot support.
5. An exoskeleton joint system as claimed in claim 4 wherein the passive energy storage means is a gas spring.
6. The system of claim 1 further comprising an articulated support plate connected at the bottom to the foot support and at the top to the leg support, the leg support being articulated to the articulated support plate at an articulation matching an ankle joint.
7. The system of claim 6, wherein the hinged support plate is removably attachable to the foot support.
8. The exoskeleton joint system for assisting walking as claimed in claim 6, wherein the number of the hinged support plates is two, two hinged support plates are disposed at two sides of the foot support, the leg support comprises a fixing member and two fixing frames, the two fixing frames are hinged to the two hinged support plates oppositely, two ends of the fixing member are respectively connected to the two fixing frames, and one side of the fixing member close to the leg is an arc-shaped surface.
9. The exoskeleton joint system for assisting walking as claimed in claim 8, wherein the number of the fixing members is two, two fixing members are vertically distributed, and two ends of each fixing member are respectively connected with the two fixing members.
10. An exoskeleton joint system as claimed in claim 1 wherein a foot strap is provided on the foot support and a leg strap is provided on the leg support.
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| CN202011330843.XA CN112451319B (en) | 2020-11-24 | 2020-11-24 | Exoskeleton joint system for assisting walking |
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| CN202011330843.XA CN112451319B (en) | 2020-11-24 | 2020-11-24 | Exoskeleton joint system for assisting walking |
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| CN112451319B CN112451319B (en) | 2023-03-14 |
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