CN1586434A - Lower limb walking external skeleton capable of being worn - Google Patents
Lower limb walking external skeleton capable of being worn Download PDFInfo
- Publication number
- CN1586434A CN1586434A CN 200410053695 CN200410053695A CN1586434A CN 1586434 A CN1586434 A CN 1586434A CN 200410053695 CN200410053695 CN 200410053695 CN 200410053695 A CN200410053695 A CN 200410053695A CN 1586434 A CN1586434 A CN 1586434A
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- Prior art keywords
- bar
- hydraulic cylinder
- support bar
- fork
- hip
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 17
- 210000003127 knee Anatomy 0.000 claims abstract description 23
- 238000006073 displacement reaction Methods 0.000 claims abstract description 5
- 210000003423 ankle Anatomy 0.000 claims description 11
- 230000015572 biosynthetic process Effects 0.000 claims description 7
- 230000001105 regulatory effect Effects 0.000 claims description 5
- 230000008520 organization Effects 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 9
- 230000005021 gait Effects 0.000 abstract description 4
- 201000006938 muscular dystrophy Diseases 0.000 abstract 1
- 206010002027 Amyotrophy Diseases 0.000 description 2
- 238000002266 amputation Methods 0.000 description 2
- 230000002708 enhancing effect Effects 0.000 description 2
- 210000002683 foot Anatomy 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 210000002414 leg Anatomy 0.000 description 2
- 206010003694 Atrophy Diseases 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000037444 atrophy Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000001769 paralizing effect Effects 0.000 description 1
- 210000000689 upper leg Anatomy 0.000 description 1
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- Rehabilitation Tools (AREA)
- Manipulator (AREA)
Abstract
The wearable lower limb walking external skeleton consists of waist support, four-rod hip mechanism, four-rod knee mechanism, four-rod heel knee mechanism and planta support connected successively. For amputated patient or muscular dystrophy patient, the present invention has auxiliary program written in advance for assisting walking. For tourist and the weak, the present invention is worn and the wearer walks, so that the displacement sensors acquires the motion gesture signals of the wearer, and the gait is recorded in the computer and copied to strengthen the walking ability of the wearer. The present invention is used as the walking aid for the patients and the equipment for walking tourist.
Description
Technical field
The present invention relates to wearable lower limb walking ectoskeleton.
Background technology
The people feeling of fatigue very easily occurs under big heavy burden and long-time walking situation.Lower limb muscles atrophy patient or paralytic need walking aid, can be with the mankind's the intelligence and the physical perfect adaptation walking ectoskeleton machinery together of robot and also do not have at present.
Summary of the invention
The purpose of this invention is to provide a kind of wearable walking lower limb exoskeleton auxiliary or enhancing people walking ability that is suitable for.
Wearable walking lower limb exoskeleton of the present invention is to be supported to contact successively by lumbar support, hip four-bar mechanism, knee four-bar mechanism, ankle four-bar mechanism and vola to constitute:
Said lumbar support comprises U type frame and is fixed on the bracing frame that is used for load of U type frame bottom, is respectively equipped with pin hole at the opening of U type frame;
The hip four-bar mechanism comprises hip fork, angular adjustment bar, support bar and hydraulic cylinder, one end of hip fork has axle, this shaft extension goes into to constitute the revolute that horizontally rotates in the pin hole of lumbar support U type frame, one end of the other end of hip fork and angular adjustment bar and hydraulic cylinder is hinged, the other end of angular adjustment bar becomes the α angle with an end of support bar by regulating bolting, and the other end of support bar and the other end of hydraulic cylinder are hinged;
The knee four-bar mechanism comprises fork, cross section is the support bar and the hydraulic cylinder of П type, protrude backward the upper end of support bar, fork has the tip node that is mutually the right angle, the hinged formation in the bottom of an end and the support bar revolute of rotating up and down wherein, one end of the other end and hydraulic cylinder is hinged, the other end of hydraulic cylinder and post upper protrusion place backward is hinged, the support bar of hip four-bar mechanism places the groove of the support bar of knee four-bar mechanism to link to each other by alignment pin, and the hydraulic cylinder of the hydraulic cylinder of knee four-bar mechanism and hip four-bar mechanism is respectively before the support bar of knee four-bar mechanism, rear side;
The ankle four-bar mechanism comprises support bar, herringbone fork and hydraulic cylinder, fork in the upper end of support bar and the knee four-bar mechanism is fastening, the front side of post upper has an end of a projection and hydraulic cylinder hinged, the revolute that the hinged formation in the top of the lower end of support bar and herringbone fork is rotated up and down, the front side end of herringbone fork and the other end of hydraulic cylinder are hinged, the sufficient lateral heel that the front side end of herringbone fork and rear side end and vola are supported is fixed, and supports that in the vola elastic cord being installed.
For ease of gathering the motion pose signal of human body lower limbs when the walking, can be at each installation position, hydraulic cylinder body side displacement sensor.
During use, wearer is dressed in the both legs both sides with walking lower limb exoskeleton of the present invention, the lower back of the U type frame of lumbar support being close to wearer, lie in by elastic cord between the waist of wearer, the control system of whole device, power supply and equipment luggage etc. all can be positioned on the bracing frame of load, reduce the burden that wearer is born luggage.Both feet are fixed on the gripper shoe of vola by elastic cord, and every lower limb all has 3 controllable degrees of freedom, drive ectoskeleton and move.
At amputation patient or amyotrophy patient, the present invention can utilize the walking program of finishing in advance as auxiliary walking instrument.For general traveller or weakling, can wear the present invention's walking earlier, motion pose signal during by the walking of displacement transducer timing acquiring wearer, and the gait by the computer recording wearer, the gait that progressively reappears wearer then, the walking step state of imitation wearer is realized effect auxiliary or enhancing wearer walking movement ability.Use the present invention can alleviate pedestrian's fatigue to a certain extent, improve the human motion limit, and strengthen the ability that human body carries the weight motion.The present invention both can be used as lower extremity amputation patient or amyotrophy patient's walking aid, also can be used as the walking-replacing tool or the open-air scientific investigation equipment of hiking.
Description of drawings
Fig. 1 is the lower limb walking ectoskeleton structural representation of Wearable;
The specific embodiment
Further specify the present invention below in conjunction with accompanying drawing.
With reference to Fig. 1, wearable walking lower limb exoskeleton is to be made of lumbar support 1, hip four-bar mechanism 5, knee four-bar mechanism 10, ankle four-bar mechanism 17 and vola support 19 polyphone successively, said lumbar support 1 comprises U type frame 3 and is fixed on the bracing frame that is used for load 2 of U type frame bottom, opening at U type frame is respectively equipped with pin hole 4, for the big I that makes U type frame is regulated by wearer comfort, U type frame can adopt plate and two the L shaped bars by the band adjustment hole to be formed by connecting.
Hip four-bar mechanism 5 comprises hip fork 6, angular adjustment bar 7, support bar 8 and hydraulic cylinder 9, one end of hip fork 6 has axle, this shaft extension goes into to constitute the revolute that horizontally rotates in the pin hole 4 of lumbar support U type frame, and in the time of can realizing people's walking, lower limb is around the outward turning campaign of axis.One end of the other end of hip fork 6 and angular adjustment bar 7 and hydraulic cylinder 9 is hinged by rotating shaft, the other end of angular adjustment bar 7 becomes the α angle with an end of support bar 8 by regulating bolting, the α angle that angular adjustment bar 7 and support bar are 8 can be adjusted according to the wearer gait, and the other end of the other end of support bar 8 and hydraulic cylinder 9 is hinged by rotating shaft.Swing when utilizing the hip four-bar mechanism to realize walking on the thigh fore-and-aft direction.When walking, when the wearer hip lifts, 9 compressions of hydraulic cylinder in the hip four-bar mechanism, hip fork 6 relatively rotates with support bar 8, realizes following or support lifting the lower limb motion.
Knee four-bar mechanism 10 comprises fork 14, cross section is the support bar 12 and the hydraulic cylinder 11 of П type, protrude backward the upper end of support bar 12, fork 14 has the tip node that is mutually the right angle, the bottom of an end and support bar 12 revolute of rotating up and down wherein by the hinged formation of rotating shaft, one end of the other end and hydraulic cylinder 11 is hinged by rotating shaft, the protrusion place of the other end of hydraulic cylinder 11 and support bar 12 upper ends is hinged, the support bar 8 of hip four-bar mechanism 5 places the groove of the support bar 12 of knee four-bar mechanism, and it is continuous by liking enemy position pin 13 surely, usually, can be as shown in the figure, on support bar 12, hypomere is provided with 4～5 alignment pin adjustment holes respectively, so that wearer is used for regulating distance between knee revolute and the hip revolute according to leg length.The hydraulic cylinder 11 of knee four-bar mechanism and the hydraulic cylinder 9 of hip four-bar mechanism are respectively in the forward and backward side of the support bar 12 of knee four-bar mechanism.Utilize the stretching motion of hydraulic cylinder 11 in the knee four-bar mechanism, can realize the crooked and stretching, extension of knee.
Ankle four-bar mechanism 17 comprises support bar 15, herringbone fork 18 and hydraulic cylinder 16, fork 14 in the upper end of support bar 15 and the knee four-bar mechanism 10 is fastening, the front side of support bar 15 upper ends has an end of a projection and hydraulic cylinder 16 hinged, the revolute that the top of the lower end of support bar 15 and herringbone fork 18 rotates up and down by the hinged formation of rotating shaft, the other end of the front side end of herringbone fork 18 and hydraulic cylinder 16 is hinged, the sufficient lateral heel of the front side end of herringbone fork 18 and rear side end and vola support 19 is fixed, in vola support 19, elastic cord 20 is installed, is placed on the foot for wearer.The ankle four-bar mechanism can be realized the swing of ankle.When the wearer ankle upwarped, hydraulic cylinder 16 contractile motions in the ankle four-bar mechanism drove vola support 19 by the ankle four-bar mechanism and realize upwarping.
At difference installation position, the hydraulic cylinder body side of above-mentioned each mechanism displacement sensor.
Claims (2)
1. wearable walking lower limb exoskeleton is characterized in that supporting (19) formation of contacting successively by lumbar support (1), hip four-bar mechanism (5), knee four-bar mechanism (10), ankle four-bar mechanism (17) and vola:
Said lumbar support (1) comprises U type frame (3) and is fixed on the bracing frame that is used for load (2) of U type frame bottom, is respectively equipped with pin hole (4) at the opening of U type frame;
Hip four-bar mechanism (5) comprises hip fork (6), angular adjustment bar (7), support bar (8) and hydraulic cylinder (9), one end of hip fork (6) has axle, this shaft extension goes into to constitute the revolute that horizontally rotates in the pin hole (4) of lumbar support (1) U type frame, one end of the other end of hip fork (6) and angular adjustment bar (7) and hydraulic cylinder (9) is hinged, the other end of angular adjustment bar (7) becomes the α angle with an end of support bar (8) by regulating bolting, and the other end of the other end of support bar (8) and hydraulic cylinder (9) is hinged;
Knee four-bar mechanism (10) comprises fork (14), cross section is the support bar (12) and the hydraulic cylinder (11) of ∏ type, protrude backward the upper end of support bar (12), fork (14) has the tip node that is mutually the right angle, the hinged formation in bottom of an end and support bar (12) revolute of rotating up and down wherein, one end of the other end and hydraulic cylinder (11) is hinged, the other end of hydraulic cylinder (11) and protrusion place backward, support bar (12) upper end are hinged, the support bar (8) of hip four-bar mechanism (5) places the groove of the support bar (12) of knee four-bar mechanism to link to each other by alignment pin (13), and the hydraulic cylinder (9) of the hydraulic cylinder of knee four-bar mechanism (11) and hip four-bar mechanism is respectively before the support bar (12) of knee four-bar mechanism, rear side;
Ankle four-bar mechanism (17) comprises support bar (15), herringbone fork (18) and hydraulic cylinder (16), fork (14) in the upper end of support bar (15) and the knee four-bar mechanism (10) is fastening, the front side of support bar (15) upper end has an end of a projection and hydraulic cylinder (16) hinged, the revolute that the hinged formation in top of the lower end of support bar (15) and herringbone fork (18) is rotated up and down, the other end of the front side end of herringbone fork (18) and hydraulic cylinder (16) is hinged, the front side end of herringbone fork (18) and rear side end and vola are supported the sufficient lateral heel of (19) and are fixed, and support on (19) that in the vola elastic cord (20) being installed.
2. wearable walking lower limb exoskeleton according to claim 1 is characterized in that at the side of cylinder block of above-mentioned each organization hydraulic pressure cylinder (9), (11), (16) displacement transducer being installed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200410053695 CN1275578C (en) | 2004-08-10 | 2004-08-10 | Lower limb walking external skeleton capable of being worn |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200410053695 CN1275578C (en) | 2004-08-10 | 2004-08-10 | Lower limb walking external skeleton capable of being worn |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1586434A true CN1586434A (en) | 2005-03-02 |
| CN1275578C CN1275578C (en) | 2006-09-20 |
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ID=34602959
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200410053695 Expired - Fee Related CN1275578C (en) | 2004-08-10 | 2004-08-10 | Lower limb walking external skeleton capable of being worn |
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| Country | Link |
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| CN (1) | CN1275578C (en) |
Cited By (30)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101810533A (en) * | 2010-03-08 | 2010-08-25 | 上海交通大学 | Walking aid exoskeleton rehabilitation robot |
| US7883546B2 (en) | 2006-03-09 | 2011-02-08 | The Regents Of The University Of California | Power generating leg |
| US7947004B2 (en) | 2005-01-18 | 2011-05-24 | The Regents Of The University Of California | Lower extremity exoskeleton |
| CN102078228A (en) * | 2010-12-30 | 2011-06-01 | 霍启英 | Intelligent mechanical leg |
| US8057410B2 (en) | 2005-04-13 | 2011-11-15 | The Regents Of The University Of California | Semi-powered lower extremity exoskeleton |
| CN102389359A (en) * | 2011-07-14 | 2012-03-28 | 北京工业大学 | Lower limb rehabilitation training robot mechanism with human-machine motion compatibility |
| CN102499859A (en) * | 2011-11-08 | 2012-06-20 | 上海交通大学 | Lower limb exoskeleton walking rehabilitation robot |
| CN102573746A (en) * | 2009-07-01 | 2012-07-11 | 瑞克仿生学有限公司 | Control system for a mobility aid |
| CN102793595A (en) * | 2012-09-03 | 2012-11-28 | 浙江大学 | Wearable heavy material handling power-assisting bionic exoskeleton |
| CN102894642A (en) * | 2012-10-12 | 2013-01-30 | 广西工学院 | Human body load shedding device |
| CN103200909A (en) * | 2010-09-27 | 2013-07-10 | 范德比尔特大学 | Movement assistance device |
| CN103230312A (en) * | 2013-04-12 | 2013-08-07 | 西南交通大学 | Optimization method for three hinge points of power-assisted exoskeleton knee |
| CN103315834A (en) * | 2013-06-27 | 2013-09-25 | 北京交通大学 | Wearable lower-limb assistance exoskeleton |
| CN104068950A (en) * | 2014-07-23 | 2014-10-01 | 哈尔滨工业大学 | Single drive linkage type lower limb power assisting exoskeleton |
| CN104523404A (en) * | 2009-07-01 | 2015-04-22 | 瑞克仿生学有限公司 | Control system of mobility aid |
| CN104879343A (en) * | 2015-06-24 | 2015-09-02 | 中国北方车辆研究所 | Hydrocylinder used for human-assisted walking mechanism |
| CN104983542A (en) * | 2015-07-24 | 2015-10-21 | 天津科技大学 | Exoskeleton type auxiliary rehabilitation apparatus |
| CN105116728A (en) * | 2015-08-14 | 2015-12-02 | 上海申磬产业有限公司 | A method for single-joint power-assisting exoskeleton inversion self-adaptive robust force control |
| CN105326588A (en) * | 2014-08-17 | 2016-02-17 | 张楷颖 | Wearable walking aid for lower limb osteoarthrosis patients |
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| CN107243889A (en) * | 2017-07-21 | 2017-10-13 | 安徽新华学院 | Heavy burden exoskeleton robot |
| CN107322569A (en) * | 2017-08-07 | 2017-11-07 | 南京理工大学 | A kind of isomery Wearable load power assisting device and its control method |
| CN106112990B (en) * | 2016-08-18 | 2018-09-28 | 黄河科技学院 | The lower limb exercise for depressurizing power-assisted machinery exoskeleton device supports exoskeleton mechanism |
| US10426637B2 (en) | 2015-05-11 | 2019-10-01 | The Hong Kong Polytechnic University | Exoskeleton ankle robot |
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2004
- 2004-08-10 CN CN 200410053695 patent/CN1275578C/en not_active Expired - Fee Related
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| CN101132753B (en) * | 2005-01-18 | 2011-06-29 | 加利福尼亚大学董事会 | Lower extremity exoskeleton |
| US7947004B2 (en) | 2005-01-18 | 2011-05-24 | The Regents Of The University Of California | Lower extremity exoskeleton |
| US8057410B2 (en) | 2005-04-13 | 2011-11-15 | The Regents Of The University Of California | Semi-powered lower extremity exoskeleton |
| US7883546B2 (en) | 2006-03-09 | 2011-02-08 | The Regents Of The University Of California | Power generating leg |
| US10537987B2 (en) | 2009-07-01 | 2020-01-21 | Rex Bionics Limited | Control system for a mobility aid |
| CN104523404A (en) * | 2009-07-01 | 2015-04-22 | 瑞克仿生学有限公司 | Control system of mobility aid |
| CN102573746A (en) * | 2009-07-01 | 2012-07-11 | 瑞克仿生学有限公司 | Control system for a mobility aid |
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| CN105326588B (en) * | 2014-08-17 | 2018-05-01 | 张楷颖 | The wearable walk helper of leg bone arthritic patients |
| CN105326588A (en) * | 2014-08-17 | 2016-02-17 | 张楷颖 | Wearable walking aid for lower limb osteoarthrosis patients |
| US10426637B2 (en) | 2015-05-11 | 2019-10-01 | The Hong Kong Polytechnic University | Exoskeleton ankle robot |
| CN104879343A (en) * | 2015-06-24 | 2015-09-02 | 中国北方车辆研究所 | Hydrocylinder used for human-assisted walking mechanism |
| CN104983542B (en) * | 2015-07-24 | 2017-05-31 | 天津科技大学 | Exoskeleton-type rehabilitation servicing unit |
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| CN105116728B (en) * | 2015-08-14 | 2018-02-27 | 安徽三联机器人科技有限公司 | A kind of method of simple joint assistance exoskeleton inverting ADAPTIVE ROBUST power control |
| CN105116728A (en) * | 2015-08-14 | 2015-12-02 | 上海申磬产业有限公司 | A method for single-joint power-assisting exoskeleton inversion self-adaptive robust force control |
| CN105686930A (en) * | 2016-03-01 | 2016-06-22 | 芜湖安普机器人产业技术研究院有限公司 | Connecting rod and joint integrated hydraulic driving external skeleton |
| CN105816298A (en) * | 2016-05-23 | 2016-08-03 | 成都奥特为科技有限公司 | Wearable ankle protection and foot power assisting device |
| CN106002950A (en) * | 2016-06-30 | 2016-10-12 | 张学衡 | Exoskeleton robot lower limb mechanism with adjustable length |
| US10702400B2 (en) | 2016-08-03 | 2020-07-07 | Boe Technology Group Co., Ltd. | Mechanical exoskeleton wearable apparatus, operation control method and operation control device for the same |
| CN106041898A (en) * | 2016-08-03 | 2016-10-26 | 京东方科技集团股份有限公司 | Mechanical exoskeleton wear equipment and operation control method and device thereof |
| CN106041898B (en) * | 2016-08-03 | 2018-05-22 | 京东方科技集团股份有限公司 | Mechanical exoskeleton wearable device and its progress control method and device |
| CN106112988B (en) * | 2016-08-18 | 2018-05-22 | 黄河科技学院 | For connecting the trunk mechanical exoskeleton device of four limbs exoskeleton mechanism |
| CN106112990B (en) * | 2016-08-18 | 2018-09-28 | 黄河科技学院 | The lower limb exercise for depressurizing power-assisted machinery exoskeleton device supports exoskeleton mechanism |
| CN106112988A (en) * | 2016-08-18 | 2016-11-16 | 黄河科技学院 | For connecting the trunk mechanical exoskeleton device of extremity exoskeleton mechanism |
| CN106272337A (en) * | 2016-08-25 | 2017-01-04 | 西南交通大学 | A kind of wearable lower limb exoskeleton power-assisting robot |
| CN107243889A (en) * | 2017-07-21 | 2017-10-13 | 安徽新华学院 | Heavy burden exoskeleton robot |
| CN107322569A (en) * | 2017-08-07 | 2017-11-07 | 南京理工大学 | A kind of isomery Wearable load power assisting device and its control method |
| CN107322569B (en) * | 2017-08-07 | 2023-08-22 | 南京理工大学 | Heterogeneous wearable load power assisting device and control method thereof |
| CN111840003A (en) * | 2020-08-14 | 2020-10-30 | 青岛科技大学 | Intelligent mechanical leg device for helping the old and supporting the disabled based on STC12C5A60S2 |
| CN111840003B (en) * | 2020-08-14 | 2024-04-12 | 青岛科技大学 | Intelligent aging-assisting and disabled-supporting mechanical leg device based on STC12C5A60S2 |
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| Publication number | Publication date |
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| CN1275578C (en) | 2006-09-20 |
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