WO2024011836A1

WO2024011836A1 - Lower limb exoskeleton for lateral walking rehabilitation

Info

Publication number: WO2024011836A1
Application number: PCT/CN2022/138179
Authority: WO
Inventors: 曹武警; 杜思达; 吴新宇; 陈春杰; 马跃; 何勇; 李金科
Original assignee: 深圳先进技术研究院
Priority date: 2022-07-14
Filing date: 2022-12-09
Publication date: 2024-01-18
Also published as: CN115282561A

Abstract

The present invention relates to a lower limb exoskeleton for lateral walking rehabilitation, comprising a waist base, power modules, swing support assemblies, and thigh brace assemblies, wherein a left power module drives a left swing support assembly and a left thigh brace assembly to swing from side to side; a right power module drives a right swing support assembly and a right thigh brace assembly to swing from side to side; and the left thigh brace assembly and the right thigh brace assembly respectively swing forward and backward by means of the left swing support assembly and the right swing support assembly. The present invention can adapt to people of different body shapes and provide relatively good wearing comfort, and can provide assistance for hip-joint lateral movement in a first stage, accurately adjust and control hip-joint lateral movement resistance in a second stage, and use targeted hip-joint multi-degree-of-freedom lateral walking rehabilitation training actions.

Description

一种横向行走康复下肢外骨骼A lateral walking rehabilitation lower limb exoskeleton

技术领域Technical field

本发明涉及一种横向行走康复下肢外骨骼。The invention relates to a lateral walking rehabilitation lower limb exoskeleton.

背景技术Background technique

下肢功能障碍是偏瘫患者最常见的后遗症，下肢外骨骼在此类患者行走功能康复中展现了优异的前景。人体行走包括纵向前后行走和横向左右行走，纵向行走康复主要是为了进行日常活动，横向行走康复主要是恢复患者的平衡能力。当前此类患者横向康复主要包括两个阶段：第一阶段，患者下床扶着床栏杆左右来回行走，此时患者髋关节内收外展肌肉肌力弱，极费力才可实现扶床的缓慢左右行走；第二阶段为康复后期，患者已基本恢复下肢功能，此时一般通过环形弹性绳套于下肢提供横向阻力，使患者在对抗阻力情况下进行横向行走锻炼。Lower limb dysfunction is the most common sequela in patients with hemiplegia, and lower limb exoskeletons show excellent prospects in the rehabilitation of walking function in such patients. Human walking includes longitudinal walking forward and backward and transverse walking left and right. Longitudinal walking rehabilitation is mainly for daily activities, and transverse walking rehabilitation is mainly for restoring the patient's balance ability. The current lateral rehabilitation of such patients mainly includes two stages: In the first stage, the patient gets out of bed and walks back and forth holding on to the bed railing. At this time, the patient's hip adductor and abductor muscles are weak, and it takes great effort to support the bed slowly. Walking left and right; the second stage is the later stage of rehabilitation, when the patient has basically recovered the function of the lower limbs. At this time, lateral resistance is generally provided on the lower limbs through a circular elastic rope so that the patient can perform lateral walking exercises against resistance.

针对第一阶段，当前多数下肢外骨骼均为纵向行走康复或辅助，而少数的横向行走辅助外骨骼也存在穿戴舒适性问题；针对第二阶段，当前环形弹性绳提供阻力不可控，需要针对不同患者确定弹性绳等级，不能达到精准康复的效果。For the first stage, most of the current lower limb exoskeletons are used for longitudinal walking rehabilitation or assistance, while a few lateral walking assistance exoskeletons also have problems with wearing comfort; for the second stage, the resistance provided by the current ring elastic rope is uncontrollable, and different needs need to be adjusted. The patient determines the level of the elastic rope, which cannot achieve precise rehabilitation.

技术问题technical problem

为了克服上述现有技术中存在的问题，本发明提出一种横向行走康复下肢外骨骼，可以适应不同体型的人群，且可以提供较好的穿戴舒适性，在第一阶段可提供髋关节横向运动辅助，在第二阶段可精准调控髋关节横向运动阻力，且可采用针对的髋关节多自由度的横向行走康复训练动作。In order to overcome the problems existing in the above-mentioned prior art, the present invention proposes a lateral walking rehabilitation lower limb exoskeleton, which can adapt to people of different body types, can provide better wearing comfort, and can provide lateral movement of the hip joint in the first stage. Assisted, in the second stage, the lateral movement resistance of the hip joint can be accurately controlled, and lateral walking rehabilitation training movements with multiple degrees of freedom for the hip joint can be used.

技术解决方案Technical solutions

本发明解决上述问题的技术方案是：一种横向行走康复下肢外骨骼，其特殊之处在于：The technical solution of the present invention to solve the above problems is: a lateral walking rehabilitation lower limb exoskeleton, which is special in that:

包括腰部基座、动力模块、摆动支架组件和大腿绑缚组件；Includes waist base, power module, swing bracket assembly and thigh binding assembly;

所述动力模块包括左动力模块和右动力模块，左动力模块和右动力模块结构相同，且对称地设置在腰部基座的左右两侧；The power module includes a left power module and a right power module. The left power module and the right power module have the same structure and are symmetrically arranged on the left and right sides of the waist base;

摆动支架组件包括左摆动支架组件和右摆动支架组件；左摆动支架组件和右摆动支架组件结构相同，且分别与左动力模块和右动力模块连接；The swing bracket assembly includes a left swing bracket assembly and a right swing bracket assembly; the left swing bracket assembly and the right swing bracket assembly have the same structure and are connected to the left power module and the right power module respectively;

大腿绑缚组件包括左大腿绑缚组件和右大腿绑缚组件；左大腿绑缚组件和右大腿绑缚组件结构相同，且分别与左摆动支架组件和右摆动支架组件连接；The thigh binding component includes a left thigh binding component and a right thigh binding component; the left thigh binding component and the right thigh binding component have the same structure and are connected to the left swing bracket component and the right swing bracket component respectively;

左动力模块带动左摆动支架组件和左大腿绑缚组件实现左右摆动；右动力模块带动右摆动支架组件和右大腿绑缚组件实现左右摆动；The left power module drives the left swing bracket assembly and the left thigh binding assembly to swing left and right; the right power module drives the right swing bracket assembly and the right thigh binding assembly to swing left and right;

左大腿绑缚组件、右大腿绑缚组件分别通过左摆动支架组件、右摆动支架组件实现前后摆动。The left thigh binding component and the right thigh binding component realize forward and backward swinging through the left swing bracket component and the right swing bracket component respectively.

进一步地，上述左动力模块包括左电机安装板、左伺服电机、左联轴器和左扭矩传感器；Further, the above-mentioned left power module includes a left motor mounting plate, a left servo motor, a left coupling and a left torque sensor;

所述左电机安装板的一端与腰部基座连接，且二者之间的距离可调，左伺服电机与左电机安装板的另一端固定，左扭矩传感器通过左联轴器与左伺服电机的输出轴连接。One end of the left motor mounting plate is connected to the waist base, and the distance between the two is adjustable. The other end of the left servo motor and the left motor mounting plate is fixed. The left torque sensor is connected to the left servo motor through the left coupling. Output shaft connection.

进一步地，上述腰部基座的两侧设有连接板，连接板上设有长孔，电机安装板上也设有长孔，二者的长孔配合后通过螺栓放松锁紧配合，使得动力模块可相对腰部基座左右调整位置，形成横向调整锁定结构；所述腰部基座的前部设有腰部束缚带。Further, connecting plates are provided on both sides of the waist base. Long holes are provided on the connecting plates, and long holes are also provided on the motor mounting plate. After the long holes of the two are matched, the bolts are used to loosen and lock the fit, so that the power module The position can be adjusted left and right relative to the waist base to form a lateral adjustment locking structure; a waist restraint belt is provided on the front of the waist base.

进一步地，上述左摆动支架组件包括左髋部主摆件、左髋部伸缩件、左销轴结构和左大腿结构；Further, the above-mentioned left swing bracket assembly includes a left hip main swing member, a left hip telescopic member, a left pin structure and a left thigh structure;

左髋部主摆件的一端与左扭矩传感器固连；另一端与左髋部伸缩件的一端连接，二者之间的距离可调；左髋部伸缩件的另一端与左大腿结构的一端通过左销轴结构转动连接；左大腿结构的另一端与大腿绑缚组件连接，且二者的距离可调。One end of the main left hip swing piece is fixedly connected to the left torque sensor; the other end is connected to one end of the left hip telescopic piece, and the distance between the two is adjustable; the other end of the left hip telescopic piece passes through one end of the left thigh structure The left pin structure is rotationally connected; the other end of the left thigh structure is connected to the thigh binding component, and the distance between the two is adjustable.

进一步地，上述左髋部主摆件为一弯折件，其与左髋部伸缩件连接的一端设有导轨，左髋部伸缩件设有滑块，该导轨、滑块组成导轨滑块结构；在滑块中心线上间隔排布通孔，与导轨中心线上设置的长孔相对应，通过螺栓放松锁紧配合，使得左髋部伸缩件可沿前后方向调整尺寸，形成前后调整锁定结构。Further, the above-mentioned left hip main ornament is a bending part, one end of which is connected to the left hip telescopic part is provided with a guide rail, and the left hip telescopic part is provided with a slider. The guide rail and the slider form a guide rail slider structure; Through holes are arranged at intervals on the center line of the slider, corresponding to the long holes provided on the center line of the guide rail. The bolts are loosened and locked so that the size of the left hip telescopic part can be adjusted in the front and rear directions, forming a front and rear adjustment locking structure.

进一步地，上述左大腿绑缚包括左定位块、两个左绑缚连接板、左大腿绑缚带和左大腿绑缚销轴结构；Further, the above-mentioned left thigh binding includes a left positioning block, two left binding connecting plates, a left thigh binding belt and a left thigh binding pin structure;

左大腿绑缚定位块与左绑缚连接板通过左大腿绑缚销轴结构连接，并且左绑缚连接板相对大腿绑缚销轴结构左右旋转，左大腿绑缚带连接在左绑缚连接板上。The left thigh binding positioning block and the left binding connection plate are connected through the left thigh binding pin structure, and the left thigh binding connection plate rotates left and right relative to the thigh binding pin structure, and the left thigh binding belt is connected to the left binding connection plate superior.

进一步地，上述左定位块上设有通孔，与所述左大腿结构上设置的长孔相对应，通过螺栓锁定结构配合，使左大腿绑缚组件可相对大腿结构上下方向滑动，形成上下调整锁定结构。Furthermore, the above-mentioned left positioning block is provided with a through hole, which corresponds to the elongated hole provided on the left thigh structure. Through the cooperation of the bolt locking structure, the left thigh binding component can slide up and down relative to the thigh structure to form an up and down adjustment. Locking structure.

进一步地，上述两个左绑缚连接板上均设有长槽孔，左大腿绑缚带穿过两个左绑缚连接板上长槽孔固定。Further, the above-mentioned two left binding connecting plates are both provided with long slots, and the left thigh binding belt is fixed through the long slots on the two left binding connecting plates.

进一步地，上述横向行走康复下肢外骨骼还包括控制组件，所述控制组件与左扭矩传感器与右扭矩传感器和所述动力模块中的左伺服电机和/或右伺服电机电连接，控制组件根据左扭矩传感器与右扭矩传感器在左右摆动方向的力矩输出反馈信号，控制左动力模块和/或右动力模块驱动摆动支架组件和大腿绑缚组件在左右方向摆动，形成针对输出左右方向摆动的力矩的横向摆动力矩反馈控制。Further, the above-mentioned lateral walking rehabilitation lower limb exoskeleton also includes a control component, which is electrically connected to the left and right torque sensors and the left servo motor and/or right servo motor in the power module. The control component is configured according to the left and right torque sensors. The torque output feedback signal of the torque sensor and the right torque sensor in the left and right swing direction controls the left power module and/or the right power module to drive the swing bracket assembly and the thigh binding assembly to swing in the left and right direction, forming a transverse direction for outputting the torque of the left and right swing direction. Swing torque feedback control.

进一步地，上述横向行走康复下肢外骨骼还包括行走状态识别组件，行走状态识别组件包括两个惯量测量传感器，两个惯量测量传感器分别设置在左大腿绑缚组件和右大腿绑缚组件上，控制组件与惯量测量传感器电连接；Further, the above-mentioned lateral walking rehabilitation lower limb exoskeleton also includes a walking state recognition component. The walking state recognition component includes two inertia measurement sensors. The two inertia measurement sensors are respectively provided on the left thigh binding component and the right thigh binding component. Control The component is electrically connected to the inertia measurement sensor;

控制组件根据惯量测量传感器的信号判断穿戴者当前步态，进而确定参考输出力矩，通过所述横向摆动力矩反馈控制，控制动力模块带动摆动支架组件和大腿绑缚组件相对腰部基座在左右方向摆动。The control component determines the wearer's current gait based on the signal from the inertia measurement sensor, and then determines the reference output torque. Through the lateral swing torque feedback control, the control power module drives the swing bracket component and the thigh binding component to swing in the left and right directions relative to the waist base. .

有益效果beneficial effects

本发明的优点：Advantages of the invention:

1) 本发明填补了现有的横向行走康复下肢外骨骼方案的不足；1) This invention fills the shortcomings of existing lower limb exoskeleton solutions for lateral walking rehabilitation;

2) 布置左右、前后、上下三个方向的结构尺寸可调整结构，保证可适应不同体型人群；2) The structure size can be adjusted in three directions: left and right, front and back, and up and down to ensure that it can adapt to people of different body types;

3) 外骨骼的主要动力、控制结构均固定在腰部，大腿摆动时惯量较小，利于控制***提供相对稳定精确的助力或阻力；3) The main power and control structures of the exoskeleton are fixed at the waist, and the inertia when the thigh swings is small, which helps the control system provide relatively stable and accurate assistance or resistance;

4) 使用扭矩传感器连接伺服电机和摆动组件，实时读取横向摆动力矩，利于实时控制保证外骨骼横向摆动助力或阻力实时控制和分析；4) Use a torque sensor to connect the servo motor and the swing component to read the lateral swing torque in real time, which facilitates real-time control and ensures real-time control and analysis of the exoskeleton's lateral swing assistance or resistance;

5) 因采用拟合人体骨骼运动学的，动力模块带动摆动组件和大腿绑缚摆动，使外骨骼辅助过程对人体组织的剪切力较小；5) Because the power module is adapted to the kinematics of the human skeleton to drive the swing component and the thigh binding to swing, the shear force on human tissue during the exoskeleton assistance process is smaller;

6) 大腿绑缚可沿外骨骼的大腿结构有限范围的滑动，可补偿因穿戴位置或调整不正确引起的纵向行走中大腿绑缚与腰部绑缚纵向转轴（本申请结构中为销轴结构313/323）距离的变动，从而使纵向行走过程中无额外负载；6) The thigh binding can slide along the thigh structure of the exoskeleton within a limited range, which can compensate for the longitudinal rotation of the thigh binding and waist binding during longitudinal walking caused by incorrect wearing position or adjustment (in the structure of this application, it is the pin structure 313 /323) distance changes, so that there is no additional load during longitudinal walking;

7) 大腿绑缚组件具有有限的柔性结构，可弥补外骨骼与人体骨骼肌肉运动学存在不一致性和不协同性时的差异。7) The thigh strapping component has a limited flexible structure, which can make up for the differences in inconsistency and lack of synergy between the exoskeleton and human skeletal muscle kinematics.

附图说明Description of drawings

图1是本发明提出的横向行走康复外骨骼整体视图；Figure 1 is an overall view of the lateral walking rehabilitation exoskeleton proposed by the present invention;

图2是本发明提出的横向行走康复外骨骼组件结构图；Figure 2 is a structural diagram of the lateral walking rehabilitation exoskeleton component proposed by the present invention;

图3是人体穿戴图；Figure 3 is a picture of human body wearing;

图4是左侧横向行走步态图；Figure 4 is a lateral walking gait diagram on the left side;

图5是右侧横向行走步态图；Figure 5 is a lateral walking gait diagram on the right side;

图6是纵向自由行走示意图。Figure 6 is a schematic diagram of longitudinal free walking.

图中所示：Shown in the picture:

1-腰部基座；2-动力模块；21-左动力模块；211-左电机安装板；212-左伺服电机；213-左联轴器；214-左扭矩传感器；1-Waist base; 2-Power module; 21-Left power module; 211-Left motor mounting plate; 212-Left servo motor; 213-Left coupling; 214-Left torque sensor;

22-右动力模块；222-右伺服电机；224-右扭矩传感器；22-right power module; 222-right servo motor; 224-right torque sensor;

3-摆动支架组件；31-左摆动支架组件；311-左髋部主摆件；312-左髋部伸缩件；313-左销轴结构；314-左大腿结构；32-右摆动支架组件；4-大腿绑缚组件；41-左大腿绑缚组件；411-左定位块；412-两个左绑缚连接板；413-左大腿绑缚带；414-左大腿绑缚销轴结构；42-右大腿绑缚组件；51-控制组件；52-惯量测量传感器。3-Swing bracket assembly; 31-Left swing bracket assembly; 311-Left hip main swing piece; 312-Left hip telescopic part; 313-Left pin structure; 314-Left thigh structure; 32-Right swing bracket assembly; 4 -Thigh binding component; 41-Left thigh binding component; 411-Left positioning block; 412-Two left binding connecting plates; 413-Left thigh binding belt; 414-Left thigh binding pin structure; 42- Right thigh binding component; 51-control component; 52-inertia measurement sensor.

本发明的实施方式Embodiments of the invention

为使本发明实施方式的目的、技术方案和优点更加清楚，下面将结合本发明实施方式中的附图，对本发明实施方式中的技术方案进行清楚、完整地描述，显然，所描述的实施方式是本发明一部分实施方式，而不是全部的实施方式。基于本发明中的实施方式，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施方式，都属于本发明保护的范围。因此，以下对在附图中提供的本发明的实施方式的详细描述并非旨在限制要求保护的本发明的范围，而是仅仅表示本发明的选定实施方式。In order to make the purpose, 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 in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments These are some embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention. Accordingly, the following detailed description of embodiments of the invention provided in the appended drawings is not intended to limit the scope of the claimed invention, but rather to represent selected embodiments of the invention.

目前行走康复下肢外骨骼主要聚焦于纵向行走，针对横向行走的辅助外骨骼方案极少。纵向行走康复下肢外骨骼在偏瘫患者下肢平衡能力重建、横向抗阻训练方面不能使用，当前横向抗阻训练主要通过环形弹性套绳提供阻力，阻力大小不可控，针对不同穿戴者难以精准有效康复。因此，本发明提出一种用于横向行走康复的下肢外骨骼，首先解决当前多数下肢外骨骼只能对前行方向行走助力，无法为下肢运动功能障碍患者提供横向行走辅助或康复训练的问题，对现有下肢康复外骨骼方案进行补充；同时针对现有横向行走康复外骨骼在适应不同体型的人群的能力，横向行走辅助时的舒适性，外骨骼***惯量较大，以及对纵向行走动作兼容性的问题提出了解决方案。At present, walking rehabilitation lower limb exoskeletons mainly focus on longitudinal walking, and there are very few auxiliary exoskeleton solutions for lateral walking. Longitudinal walking rehabilitation lower limb exoskeletons cannot be used in the reconstruction of lower limb balance ability and lateral resistance training in hemiplegic patients. Current lateral resistance training mainly provides resistance through circular elastic lanyards. The amount of resistance is uncontrollable, making it difficult to achieve accurate and effective rehabilitation for different wearers. Therefore, the present invention proposes a lower limb exoskeleton for lateral walking rehabilitation, which first solves the problem that most current lower limb exoskeletons can only assist walking in the forward direction and cannot provide lateral walking assistance or rehabilitation training for patients with lower limb motor dysfunction. Supplement the existing lower limb rehabilitation exoskeleton program; at the same time, focus on the ability of the existing lateral walking rehabilitation exoskeleton to adapt to people of different sizes, the comfort when assisting in lateral walking, the large inertia of the exoskeleton system, and the compatibility with longitudinal walking movements Solutions are proposed to sexual problems.

参见图1和图2，一种横向行走康复下肢外骨骼，包括腰部基座1、动力模块2、摆动支架组件3和大腿绑缚组件4。Referring to Figures 1 and 2, a lateral walking rehabilitation lower limb exoskeleton includes a waist base 1, a power module 2, a swing bracket assembly 3 and a thigh binding assembly 4.

所述动力模块2包括左动力模块21和右动力模块22，左动力模块21和右动力模块22结构相同，且对称地设置在腰部基座1的左右两侧。摆动支架组件3包括左摆动支架组件31和右摆动支架组件32；左摆动支架组件31和右摆动支架组件32结构相同，且分别与左动力模块21和右动力模块22连接。大腿绑缚组件4包括左大腿绑缚组件41和右大腿绑缚组件42；左大腿绑缚组件41和右大腿绑缚组件42结构相同，且分别与左摆动支架组件31和右摆动支架组件32连接。The power module 2 includes a left power module 21 and a right power module 22. The left power module 21 and the right power module 22 have the same structure and are symmetrically arranged on the left and right sides of the waist base 1. The swing bracket assembly 3 includes a left swing bracket assembly 31 and a right swing bracket assembly 32; the left swing bracket assembly 31 and the right swing bracket assembly 32 have the same structure and are connected to the left power module 21 and the right power module 22 respectively. The thigh binding assembly 4 includes a left thigh binding assembly 41 and a right thigh binding assembly 42; the left thigh binding assembly 41 and the right thigh binding assembly 42 have the same structure, and are respectively the same as the left swing bracket assembly 31 and the right swing bracket assembly 32 connect.

腰部基座1用于绑缚于下肢功能障碍患者的腰部，大腿绑缚组件4用于绑缚于下肢功能障碍患者的腿部。左动力模块21带动左摆动支架组件31和左大腿绑缚组件41实现左右摆动；右动力模块22带动右摆动支架组件32和右大腿绑缚组件42实现左右摆动；左大腿绑缚组件41、右大腿绑缚组件42分别通过左摆动支架组件31、右摆动支架组件32实现前后摆动。The waist base 1 is used for binding on the waist of patients with lower limb dysfunction, and the thigh binding component 4 is used for binding on the legs of patients with lower limb dysfunction. The left power module 21 drives the left swing bracket assembly 31 and the left thigh binding assembly 41 to swing left and right; the right power module 22 drives the right swing bracket assembly 32 and the right thigh binding assembly 42 to swing left and right; the left thigh binding assembly 41, right The thigh binding assembly 42 swings forward and backward through the left swing bracket assembly 31 and the right swing bracket assembly 32 respectively.

作为本发明的一个优选实施例，参见图2，所述左动力模块21包括左电机安装板211、左伺服电机212、左联轴器213和左扭矩传感器214；所述左电机安装板211的一端与腰部基座1连接，且二者之间的距离可调，左伺服电机212与左电机安装板211的另一端固定，左扭矩传感器214通过左联轴器213与左伺服电机212的输出轴连接。As a preferred embodiment of the present invention, referring to Figure 2, the left power module 21 includes a left motor mounting plate 211, a left servo motor 212, a left coupling 213 and a left torque sensor 214; the left motor mounting plate 211 One end is connected to the waist base 1, and the distance between the two is adjustable. The other end of the left servo motor 212 and the left motor mounting plate 211 is fixed. The left torque sensor 214 communicates with the output of the left servo motor 212 through the left coupling 213. Shaft connection.

作为本发明的一个优选实施例，参见图2，所述腰部基座1的前部设有腰部束缚带，所述腰部基座1的两侧设有连接板，连接板上设有长孔，电机安装板上也设有长孔，二者的长孔配合后通过螺栓放松锁紧配合，使得动力模块2可相对腰部基座1左右调整位置，形成横向调整锁定结构。As a preferred embodiment of the present invention, see Figure 2, the front part of the waist base 1 is provided with a waist restraint belt, and both sides of the waist base 1 are provided with connecting plates, and the connecting plates are provided with long holes. The motor mounting plate is also provided with long holes. After the two long holes are matched, the bolts are used to loosen and lock the fit, so that the power module 2 can adjust its position left and right relative to the waist base 1, forming a lateral adjustment locking structure.

作为本发明的一个优选实施例，参见图2，所述左摆动支架组件31包括左髋部主摆件311、左髋部伸缩件312、左销轴结构313和左大腿结构314；左髋部主摆件311的一端与左扭矩传感器214固连；另一端与左髋部伸缩件312的一端连接，二者之间的距离可调；左髋部伸缩件312的另一端与左大腿结构314的一端通过左销轴结构313转动连接；左大腿结构314的另一端与大腿绑缚组件4连接，且二者的距离可调。As a preferred embodiment of the present invention, referring to Figure 2, the left swing bracket assembly 31 includes a left hip main swing member 311, a left hip telescopic member 312, a left pin structure 313 and a left thigh structure 314; One end of the swing member 311 is fixedly connected to the left torque sensor 214; the other end is connected to one end of the left hip telescopic member 312, and the distance between the two is adjustable; the other end of the left hip telescopic member 312 is connected to one end of the left thigh structure 314 It is connected by rotation through the left pin structure 313; the other end of the left thigh structure 314 is connected to the thigh binding assembly 4, and the distance between them is adjustable.

具体地，参见图2，所述左髋部主摆件311为一弯折件，其与左髋部伸缩件312连接的一端设有导轨，左髋部伸缩件312设有滑块，该导轨、滑块组成导轨滑块结构；在滑块中心线上间隔排布通孔，与导轨中心线上设置的长孔相对应，通过螺栓放松锁紧配合，使得左髋部伸缩件312可沿前后方向调整尺寸，形成前后调整锁定结构。Specifically, referring to Figure 2, the left hip main swing member 311 is a bending member, and one end thereof connected to the left hip telescopic member 312 is provided with a guide rail, and the left hip telescopic member 312 is provided with a slider. The guide rail, The slide block forms a guide rail slide block structure; through holes are arranged at intervals on the center line of the slide block, corresponding to the long holes provided on the center line of the guide rail, and the locking fit is loosened by bolts, so that the left hip telescopic part 312 can move in the front and rear direction. Adjust the size to form a front and rear adjustment locking structure.

作为本发明的一个优选实施例，参见图2，所述左大腿绑缚41包括左定位块411、两个左绑缚连接板412、左大腿绑缚带413和左大腿绑缚销轴结构414；左大腿绑缚定位块411与左绑缚连接板412通过左大腿绑缚销轴结构414连接，并且左绑缚连接板412相对大腿绑缚销轴结构414左右旋转，左大腿绑缚带413连接在左绑缚连接板412上。As a preferred embodiment of the present invention, referring to Figure 2, the left thigh binding 41 includes a left positioning block 411, two left binding connecting plates 412, a left thigh binding belt 413 and a left thigh binding pin structure 414 ; The left thigh binding positioning block 411 and the left binding connection plate 412 are connected through the left thigh binding pin structure 414, and the left thigh binding connection plate 412 rotates left and right relative to the thigh binding pin structure 414, and the left thigh binding belt 413 Connected to the left binding connection plate 412.

作为本发明的一个优选实施例，参见图2，所述左定位块411上设有通孔，与所述左大腿结构314上设置的长孔相对应，通过螺栓锁定结构配合，使左大腿绑缚组件41可相对大腿结构314上下方向滑动，形成上下调整锁定结构。As a preferred embodiment of the present invention, see Figure 2, the left positioning block 411 is provided with a through hole, corresponding to the long hole provided on the left thigh structure 314, and the left thigh is tied through the bolt locking structure. The binding component 41 can slide up and down relative to the thigh structure 314 to form an up and down adjustment locking structure.

作为本发明的一个优选实施例，参见图2，所述两个左绑缚连接板412上均设有长槽孔，左大腿绑缚带413穿过两个左绑缚连接板412上长槽孔固定。左大腿绑缚带413具有的弹性和与左绑缚连接板412槽口间的摩擦力可限制大腿绑缚组件4中柔性结构的变形范围，同时对穿戴者在外骨骼辅助行走时的运动学一致性与协调性不足产生一定补偿作用。As a preferred embodiment of the present invention, referring to Figure 2, the two left binding connecting plates 412 are both provided with long slots, and the left thigh binding belt 413 passes through the long slots on the two left binding connecting plates 412. hole fixed. The elasticity of the left thigh binding belt 413 and the friction between the left thigh binding strap 413 and the notch of the left binding connecting plate 412 can limit the deformation range of the flexible structure in the thigh binding assembly 4, and at the same time, it is consistent with the kinematics of the wearer when walking with exoskeleton assistance. The lack of sex and coordination has a certain compensatory effect.

作为本发明的一个优选实施例，参见图1和2，还包括控制组件51，所述控制组件51与左扭矩传感器214与右扭矩传感器224和所述动力模块2中的左伺服电机212和/或右伺服电机222电连接，控制组件51根据左扭矩传感器214与右扭矩传感器224在左右摆动方向的力矩输出反馈信号，控制左动力模块21和/或右动力模块22驱动摆动支架组件3和大腿绑缚组件4在左右方向摆动，形成针对输出左右方向摆动的力矩的横向摆动力矩反馈控制。As a preferred embodiment of the present invention, referring to Figures 1 and 2, it also includes a control component 51, the control component 51 is connected with the left torque sensor 214 and the right torque sensor 224 and the left servo motor 212 and/or in the power module 2 Or the right servo motor 222 is electrically connected, and the control component 51 controls the left power module 21 and/or the right power module 22 to drive the swing bracket assembly 3 and the thigh according to the torque output feedback signal of the left torque sensor 214 and the right torque sensor 224 in the left and right swing direction. The binding assembly 4 swings in the left and right directions to form a lateral swing torque feedback control for outputting a moment of swinging in the left and right directions.

在一些实施例中，控制组件51可由下肢功能障碍患者或者亲属、护工等自行操作。当然，也可通过其他方式辅助控制，例如，基于横向行走的下肢外骨骼还包括行走状态识别组件，行走状态识别组件包括两个惯量测量传感器52，参见图1和2，两个惯量测量传感器52分别设置在左大腿绑缚组件41和右大腿绑缚组件42上，控制组件51与惯量测量传感器52电连接；控制组件51根据惯量测量传感器52的信号判断穿戴者当前步态，进而确定参考输出力矩，通过所述横向摆动力矩反馈控制，控制动力模块2带动摆动支架组件3和大腿绑缚组件4相对腰部基座1在左右方向摆动。In some embodiments, the control component 51 can be operated by patients with lower limb dysfunction or relatives, caregivers, etc. themselves. Of course, other methods can also be used to assist control. For example, the lower limb exoskeleton based on lateral walking also includes a walking state recognition component. The walking state recognition component includes two inertia measurement sensors 52. See Figures 1 and 2. The two inertia measurement sensors 52 They are respectively provided on the left thigh binding component 41 and the right thigh binding component 42. The control component 51 is electrically connected to the inertia measurement sensor 52; the control component 51 determines the wearer's current gait based on the signal of the inertia measurement sensor 52, and then determines the reference output. Moment, through the lateral swing torque feedback control, the power module 2 is controlled to drive the swing bracket assembly 3 and the thigh binding assembly 4 to swing in the left and right directions relative to the waist base 1.

实施例Example

一种用于横向行走康复的下肢外骨骼10，如图1及图2所示，主要包括：包括腰部基座1、动力模块2、摆动支架组件3、大腿绑缚组件4、控制组件51和惯量测量传感器52。A lower limb exoskeleton 10 for lateral walking rehabilitation, as shown in Figures 1 and 2, mainly includes: a waist base 1, a power module 2, a swing bracket component 3, a thigh binding component 4, a control component 51 and Inertia measurement sensor 52.

其中，参见图3，腰部基座1用于绑缚于下肢功能障碍患者的腰部，腰部基座1的后侧安装控制组件51，前部设有腰部束缚带，左右两侧安装动力模块2。大腿绑缚组件4用于绑缚于下肢功能障碍患者的腿部。Referring to Figure 3, the waist base 1 is used to be tied to the waist of patients with lower limb dysfunction. The control assembly 51 is installed on the rear side of the waist base 1, the waist restraint belt is provided on the front, and the power modules 2 are installed on the left and right sides. The thigh binding component 4 is used for binding the legs of patients with lower limb dysfunction.

在使用基于横向行走的下肢外骨骼时，考虑到各个下肢功能障碍患者的腰部及腿部的尺寸大小不同。为此，本实施例的腰部基座1和大腿绑缚组件4的绑带设置为可调节型，方便用户根据其腰部及腿部的实际尺寸大小动态调整，从而固定住基于横向行走的下肢外骨骼10。并且，增加基于横向行走的下肢外骨骼10和用户的贴合度，利于用户横向行走。When using a lower limb exoskeleton based on lateral walking, consider that the waist and leg sizes of each patient with lower limb dysfunction are different. To this end, the straps of the waist base 1 and the thigh binding assembly 4 of this embodiment are set to be adjustable, which facilitates the user to dynamically adjust according to the actual size of his waist and legs, thereby fixing the external movements of the lower limbs based on lateral walking. Skeleton10. Moreover, increasing the fit between the lower limb exoskeleton 10 based on lateral walking and the user facilitates the user's lateral walking.

如图2所示，动力模块2包括左动力模块21和右动力模块22。右动力模块21与左动力模块22镜像对称。As shown in FIG. 2 , the power module 2 includes a left power module 21 and a right power module 22 . The right power module 21 and the left power module 22 are mirror symmetrical.

具体地，以左动力模块21为例，左动力模块21包括左电机安装板211、左伺服电机212、左联轴器213和左扭矩传感器214。其中，电机安装板211固定在腰部基座1上，腰部基座1上设有三个长孔，与所述电机安装板211上三个长孔组合，通过匹配的螺栓放松锁紧配合，使得左动力模块21可相对腰部基座1左右调整位置，形成横向调整锁定结构。在使用基于横向行走的下肢外骨骼10时，根据穿戴者的腰部臀部左右宽度调整左右两侧的动力模块2相对于腰部基座1的相对位置，适应穿戴者体型。调整方法应使穿戴者装备完整外骨骼后，大腿结构314贴合大腿外侧，但无明显挤压感。左伺服电机212固装在左电机安装板211上，左伺服电机212、左联轴器213和左扭矩传感器214依次沿左伺服电机212的轴向固定连接。Specifically, taking the left power module 21 as an example, the left power module 21 includes a left motor mounting plate 211, a left servo motor 212, a left coupling 213 and a left torque sensor 214. Among them, the motor mounting plate 211 is fixed on the waist base 1. The waist base 1 is provided with three long holes, which are combined with the three long holes on the motor mounting plate 211. The matching bolts are used to loosen the locking fit, so that the left The power module 21 can adjust its position left and right relative to the waist base 1 to form a lateral adjustment locking structure. When using the lower limb exoskeleton 10 based on lateral walking, the relative positions of the left and right power modules 2 relative to the waist base 1 are adjusted according to the left and right width of the wearer's waist and hips to adapt to the wearer's body shape. The adjustment method should be such that after the wearer is equipped with a complete exoskeleton, the thigh structure 314 fits the outside of the thigh without any obvious squeezing feeling. The left servo motor 212 is fixedly mounted on the left motor mounting plate 211. The left servo motor 212, the left coupling 213 and the left torque sensor 214 are fixedly connected in sequence along the axial direction of the left servo motor 212.

参见图1和图2，摆动支架组件3包括左摆动支架组件31和右摆动支架组件32。右摆动支架组件32与左摆动支架组件31镜像对称。Referring to FIGS. 1 and 2 , the swing bracket assembly 3 includes a left swing bracket assembly 31 and a right swing bracket assembly 32 . The right swing bracket assembly 32 is a mirror image of the left swing bracket assembly 31 .

具体地，以左摆动支架组件31为例进行说明，左摆动支架组件31包括左髋部主摆件311、左髋部伸缩件312、左销轴结构313和左大腿结构314。其中，左动力模块21中左扭矩传感器214与左髋部主摆件311相连并带动左摆动支架组件31相对于腰部基座1左右摆动，形成主动关节A。左髋部主摆件311的导轨和左髋部伸缩件312滑块组成导轨滑块结构，在滑块中心线上间隔排布的通孔与导轨中心线上的长孔组合，通过匹配的螺栓放松锁紧配合，使得左摆动支架组件31可沿前后方向调整尺寸，形成前后调整锁定结构。在使用基于横向行走的下肢外骨骼10时，根据穿戴者的腰部臀部前后厚度调整左髋部伸缩件312相对于左髋部主摆件311的相对位置，适应穿戴者体型。调整方法应使穿戴者装备完整外骨骼后，在不同的步态下，大腿的前后摆动不会让外骨骼对穿戴者产生前后方向的阻力。Specifically, the left swing bracket assembly 31 is taken as an example for description. The left swing bracket assembly 31 includes a left hip main swing member 311 , a left hip telescopic member 312 , a left pin structure 313 and a left thigh structure 314 . Among them, the left torque sensor 214 in the left power module 21 is connected to the left hip main swing member 311 and drives the left swing bracket assembly 31 to swing left and right relative to the waist base 1 to form an active joint A. The guide rail of the left hip main ornament 311 and the slider of the left hip telescopic part 312 form a guide rail slider structure. The through holes arranged at intervals on the center line of the slider are combined with the long holes on the center line of the guide rail, and are loosened by matching bolts. The locking fit allows the left swing bracket assembly 31 to adjust its size in the front-to-back direction, forming a front-to-back adjustment locking structure. When using the lower limb exoskeleton 10 based on lateral walking, the relative position of the left hip telescopic component 312 relative to the left hip main swing component 311 is adjusted according to the front and rear thickness of the wearer's waist and hips to adapt to the wearer's body shape. The adjustment method should be such that after the wearer is equipped with a complete exoskeleton, under different gaits, the front and back swing of the thigh will not cause the exoskeleton to cause front-to-back resistance to the wearer.

其中，左销轴结构313连接左髋部伸缩件312与左大腿结构314的上端，使得左大腿结构314以所述销轴结构313为转轴相对左髋部伸缩件312前后摆动，形成自由关节B。所述销轴结构的结构简单可靠，重量轻，不需轴承结构。其径向间隙对***刚性相对于人体与大腿绑缚组件4的柔性影响较小，且可少量增加穿戴舒适性。同时，该自用关节转动轴线在穿戴者大腿左右摆动时跟随摆动，使人机运动学在前后方向上具有较高拟合度。因在穿戴者进行横向左右行走时，大腿在前后方向上具有有限的摆动动作，所述关节B可提供横向左右行走辅助时更好的人机一致性。同时，与滑动自适应结构共同保证穿戴者在外骨骼辅助全过程中具有自由前后行走能力。Among them, the left pin structure 313 connects the upper end of the left hip telescopic component 312 and the left thigh structure 314, so that the left thigh structure 314 swings back and forth relative to the left hip telescopic component 312 with the pin structure 313 as the axis of rotation, forming a free joint B. . The pin structure has a simple and reliable structure, is light in weight, and does not require a bearing structure. The radial gap has less impact on the rigidity of the system compared to the flexibility of the human body and thigh binding component 4, and can slightly increase the wearing comfort. At the same time, the rotation axis of the self-use joint follows the swing when the wearer's thigh swings left and right, so that the human-machine kinematics have a high degree of fit in the front-to-back direction. Since the thigh has limited swing motion in the front-to-back direction when the wearer walks sideways, the joint B can provide better human-machine consistency when assisting in walking sideways. At the same time, together with the sliding adaptive structure, it ensures that the wearer has the ability to walk forward and backward freely during the entire process of exoskeleton assistance.

参见图1和图2，大腿绑缚组件4包括左大腿绑缚组件41和右大腿绑缚组件42。右大腿绑缚组件42与左大腿绑缚组件41镜像对称。Referring to FIGS. 1 and 2 , the thigh binding component 4 includes a left thigh binding component 41 and a right thigh binding component 42 . The right thigh binding component 42 is a mirror image of the left thigh binding component 41 .

具体地，以左大腿绑缚41为例进行说明，左大腿绑缚41包括左定位块411、两个左绑缚连接板412、左大腿绑缚带413和左大腿绑缚销轴结构414。其中，大腿绑缚定位块411上有四个通孔，与所述左大腿结构314上两个长孔组合，通过匹配的螺钉及双螺母锁定结构配合，保证左大腿绑缚组件41与大腿结构314间有较小间隙，可以顺滑滑动无阻碍且无明显晃动为准，使左大腿绑缚组件41可相对大腿结构314上下方向滑动，形成上下方向的滑动自适应结构。该结构一方面可适应不同大腿长度的穿戴者；一方面在穿戴者进行纵向行走动作时，如左销轴结构313因穿戴误差等原因未能与人体髋关节拟合的纵向摆动轴线共线，此滑动自适应结构可对此偏距产生的大腿绑缚与腰部基座间的相对位置变化进行补偿。左大腿绑缚销轴结构414连接左大腿绑缚定位块411与左绑缚连接板412，并且左绑缚连接板412相对大腿绑缚销轴结构414左右旋转，左大腿绑缚带413穿过两个左绑缚连接板412上长槽孔固定。其中，左大腿绑缚带413具有的弹性和与左绑缚连接板412槽口间的摩擦力可限制大腿绑缚组件4中柔性结构的变形范围，同时对穿戴者在外骨骼辅助行走时的运动学一致性与协调性不足产生一定补偿作用。Specifically, taking the left thigh binding 41 as an example, the left thigh binding 41 includes a left positioning block 411, two left binding connection plates 412, a left thigh binding belt 413 and a left thigh binding pin structure 414. Among them, there are four through holes on the thigh binding positioning block 411, which are combined with the two long holes on the left thigh structure 314. Through matching screws and double nut locking structures, the left thigh binding assembly 41 and the thigh structure are ensured. There is a small gap between 314 and it can slide smoothly without obstruction and without obvious shaking, so that the left thigh binding component 41 can slide up and down relative to the thigh structure 314 to form an up and down sliding adaptive structure. On the one hand, this structure can adapt to wearers with different thigh lengths; on the other hand, when the wearer performs longitudinal walking movements, for example, the left pin structure 313 fails to be collinear with the longitudinal swing axis of the human hip joint due to wearing errors and other reasons. This sliding adaptive structure can compensate for the relative position changes between the thigh binding and the waist base caused by this offset. The left thigh binding pin structure 414 connects the left thigh binding positioning block 411 and the left binding connection plate 412, and the left binding connection plate 412 rotates left and right relative to the thigh binding pin structure 414, and the left thigh binding belt 413 passes through The two left binding connecting plates 412 are fixed with long slots. Among them, the elasticity of the left thigh binding belt 413 and the friction between the left thigh binding strap 413 and the notch of the left binding connecting plate 412 can limit the deformation range of the flexible structure in the thigh binding assembly 4, and at the same time affect the wearer's movement when the exoskeleton assists walking. The lack of academic consistency and coordination has a certain compensatory effect.

本实施例提供的基于横向行走的下肢外骨骼利用动力模块中的动力模块2带动摆动支架组件3和大腿绑缚组件4在左右方向摆动，实现了具有相对较高的人机骨骼运动学协调性和一致性的穿戴舒适性的横向行走辅助，在横向辅助中穿戴舒适性较高。The lower limb exoskeleton based on lateral walking provided by this embodiment uses the power module 2 in the power module to drive the swing bracket assembly 3 and the thigh binding assembly 4 to swing in the left and right directions, achieving relatively high kinematic coordination of the human-machine skeleton. Lateral walking assistance with consistent wearing comfort, and higher wearing comfort in lateral assistance.

考虑到下肢功能障碍患者在不同时期下横向行走康复所需训练状态差异，若采用同种训练状态对下肢功能障碍患者进行训练，将降低下肢功能障碍患者的康复效果。为此，本实施例的基于横向行走的下肢外骨骼采用不同时期不同训练状态，以促进下肢功能障碍患者主动康复效果。Considering the different training states required for lateral walking rehabilitation in patients with lower limb dysfunction at different periods, if the same training state is used to train patients with lower limb dysfunction, the rehabilitation effect of patients with lower limb dysfunction will be reduced. To this end, the lower limb exoskeleton based on lateral walking in this embodiment adopts different training states in different periods to promote the active rehabilitation effect of patients with lower limb dysfunction.

具体地，本实施例的基于横向行走的下肢外骨骼包括第一训练状态和第二训练状态。Specifically, the lower limb exoskeleton based on lateral walking of this embodiment includes a first training state and a second training state.

其中，第一训练状态针对下肢功能障碍患者平衡训练初期，横向行走锻炼时，下肢功能障碍患者髋关节外展内收肌肉不足所设计。在第一训练状态下，动力模块2相对穿戴者固定，带动摆动支架组件3和大腿绑缚组件4对髋关节外展和内收提供助力，以助力下肢功能障碍患者横向行走。Among them, the first training state is designed for patients with lower limb dysfunction who have insufficient hip abduction and adduction muscles in the early stages of balance training and lateral walking exercises. In the first training state, the power module 2 is fixed relative to the wearer and drives the swing bracket assembly 3 and the thigh binding assembly 4 to provide assistance to the abduction and adduction of the hip joint to assist patients with lower limb dysfunction to walk laterally.

第二训练状态针对下肢功能障碍患者平衡训练末期，训练下肢功能障碍患者髋关节外展内收肌肉所设计。在第二训练状态下，动力模块2相对穿戴者固定，带动摆动支架组件3和大腿绑缚组件5对髋关节外展和内收提供可控阻力，以促使下肢功能障碍患者克服阻力横向行走。The second training state is designed to train the hip abduction and adduction muscles of patients with lower limb dysfunction at the end of balance training. In the second training state, the power module 2 is fixed relative to the wearer, driving the swing bracket assembly 3 and the thigh binding assembly 5 to provide controllable resistance to hip joint abduction and adduction, so as to encourage patients with lower limb dysfunction to overcome resistance and walk laterally.

下面以实际例子说明，可参阅图4和图5，基于横向行走的下肢外骨骼如何助力下肢功能障碍患者进行第一训练状态。以基于横向行走的下肢外骨骼助力下肢功能障碍患者向左和向右横向行走为例。The following uses a practical example to illustrate, please refer to Figures 4 and 5, how a lower limb exoskeleton based on lateral walking can assist patients with lower limb dysfunction to achieve the first training state. Take the lower limb exoskeleton based on lateral walking to assist patients with lower limb dysfunction to walk laterally left and right as an example.

可参阅图4。在实际应用中，在基于横向行走的下肢外骨骼助力下肢功能障碍患者向左侧横向行走时，左动力模块21带动左摆动支架组件31和左大腿绑缚组件41向左侧摆动，提供向左摆动左腿的助力，行至右脚支撑状态。右动力模块22带动右摆动支架组件32和右大腿绑缚组件42向右侧摆动，提供转移身体重心的助力，行至双腿站立状态。左动力模块21带动左摆动支架组件31和左大腿绑缚组件41向右侧摆动，同时右动力模块22带动右摆动支架组件32和右大腿绑缚组件42向左侧摆动，共同助力双腿并拢。See Figure 4. In practical applications, when the lower limb exoskeleton based on lateral walking assists patients with lower limb dysfunction to walk laterally to the left, the left power module 21 drives the left swing bracket assembly 31 and the left thigh binding assembly 41 to swing to the left, providing a left-hand movement. Swing the left leg for assistance and walk to the supporting position of the right foot. The right power module 22 drives the right swing bracket assembly 32 and the right thigh binding assembly 42 to swing to the right, providing assistance to shift the body's center of gravity until the legs are standing. The left power module 21 drives the left swing bracket assembly 31 and the left thigh binding assembly 41 to swing to the right, while the right power module 22 drives the right swing bracket assembly 32 and the right thigh binding assembly 42 to swing to the left, jointly assisting the legs to be brought together. .

可继续参阅图5，在实际应用中，在基于横向行走的下肢外骨骼助力下肢功能障碍患者向左侧横向行走时，右动力模块22带动右摆动支架组件32和右大腿绑缚组件42向右侧摆动，提供向右摆动右腿的助力，行至左脚支撑状态。左动力模块21带动左摆动支架组件31和左大腿绑缚组件41向左侧摆动，提供转移身体重心的助力，行至双腿站立状态。左动力模块21带动左摆动支架组件31和左大腿绑缚组件41向右侧摆动，同时右动力模块22带动右摆动支架组件32和右大腿绑缚组件42向左侧摆动，共同助力双腿并拢。Continuing to refer to Figure 5, in practical applications, when a lower limb exoskeleton based on lateral walking assists a patient with lower limb dysfunction to walk laterally to the left, the right power module 22 drives the right swing bracket assembly 32 and the right thigh binding assembly 42 to the right. Side swing provides assistance to swing the right leg to the right until the left foot is supported. The left power module 21 drives the left swing bracket assembly 31 and the left thigh binding assembly 41 to swing to the left, providing assistance to shift the body's center of gravity until the legs are standing. The left power module 21 drives the left swing bracket assembly 31 and the left thigh binding assembly 41 to swing to the right, while the right power module 22 drives the right swing bracket assembly 32 and the right thigh binding assembly 42 to swing to the left, jointly assisting the legs to be brought together. .

需要说明的是，由于下肢外骨骼助力下肢功能障碍患者向左或向右横向行走中，动力模块2带动摆动支架组件3和大腿绑缚组件4的摆动方向和下肢外骨骼提供阻碍下肢功能障碍患者向左或向右横向行走中动力模块2带动摆动支架组件3和大腿绑缚组件4的摆动方向与之相反。为此，对于下肢外骨骼提供阻碍下肢功能障碍患者向左或向右横向行走的实际应用可参阅下肢外骨骼助力下肢功能障碍患者向左或向右横向行走，在此不进行重复赘述。It should be noted that since the lower limb exoskeleton assists patients with lower limb dysfunction to walk laterally to the left or right, the power module 2 drives the swing direction of the swing bracket assembly 3 and the thigh binding assembly 4 and the lower limb exoskeleton provides obstacles for patients with lower limb dysfunction. When walking laterally to the left or right, the power module 2 drives the swing bracket assembly 3 and the thigh binding assembly 4 to swing in the opposite direction. For this reason, for the actual application of lower limb exoskeleton to prevent patients with lower limb dysfunction from walking laterally to the left or right, please refer to Lower Limb Exoskeleton Assisting Patients with Lower Limb Functionality from Walking Laterally to the Left or Right, which will not be repeated here.

参见图1和图2，本实施例的基于横向行走的下肢外骨骼还包括控制组件51，所述控制组件51与左扭矩传感器214与右扭矩传感器224和所述动力模块2中的左伺服电机212和/或右伺服电机222电连接。控制组件51根据左扭矩传感器214与右扭矩传感器224在左右摆动方向的力矩输出反馈信号，控制左动力模块21和/或右动力模块22驱动摆动支架组件3和大腿绑缚组件4在所述左右方向摆动，形成针对输出左右方向摆动的力矩的横向摆动力矩反馈控制。在第一训练状态，控制组件51根据力矩输出信号控制固定在腰部基座1上的动力模块2带动摆动支架组件3和大腿绑缚组件4对髋关节外展和内收提供助力。在第二训练状态，控制组件51根据力矩输出信号可控制固定在腰部基座上的动力模块2带动摆动支架组件3和大腿绑缚组件4对髋关节外展和内收提供可调控的阻力。在横向摆动力矩反馈控制下，外骨骼能更好的对穿戴者提供稳定可控，且符合人机动力学的助力或阻力辅助。Referring to Figures 1 and 2, the lower limb exoskeleton based on lateral walking in this embodiment also includes a control component 51, which is connected with the left torque sensor 214, the right torque sensor 224 and the left servo motor in the power module 2 212 and/or the right servo motor 222 are electrically connected. The control component 51 controls the left power module 21 and/or the right power module 22 to drive the swing bracket assembly 3 and the thigh binding assembly 4 in the left and right swing directions according to the torque output feedback signals of the left torque sensor 214 and the right torque sensor 224 in the left and right swing directions. The oscillating direction forms a lateral oscillating torque feedback control for outputting a moment of oscillating left and right directions. In the first training state, the control component 51 controls the power module 2 fixed on the waist base 1 according to the torque output signal to drive the swing bracket component 3 and the thigh binding component 4 to provide assistance for hip joint abduction and adduction. In the second training state, the control component 51 can control the power module 2 fixed on the waist base according to the torque output signal to drive the swing bracket component 3 and the thigh binding component 4 to provide adjustable resistance to hip joint abduction and adduction. Under the lateral swing torque feedback control, the exoskeleton can better provide the wearer with stable and controllable power or resistance assistance that is consistent with ergonomic dynamics.

控制组件51与惯量测量传感器52电连接。控制组件51可由下肢功能障碍患者或者亲属、护工等自行操作。也可通过其他方式辅助控制。控制组件51可根惯量测量传感器52的信号判断穿戴者当前步态，进而确定参考输出力矩，通过所述横向摆动力矩反馈控制，控制动力模块2带动摆动支架组件3和大腿绑缚组件4相对腰部基座1在左右方向摆动。The control component 51 is electrically connected to the inertia measurement sensor 52 . The control component 51 can be operated by patients with lower limb dysfunction, relatives, caregivers, etc. themselves. Control can also be assisted through other means. The control component 51 can determine the wearer's current gait based on the signal of the inertia measurement sensor 52, and then determine the reference output torque. Through the lateral swing torque feedback control, the power module 2 is controlled to drive the swing bracket component 3 and the thigh binding component 4 relative to the waist. The base 1 swings in the left and right directions.

如图6所示，穿戴者正确调整后装备外骨骼，在前行方向行走时，外骨骼对穿戴者无额外限制。As shown in Figure 6, after the wearer correctly adjusts the exoskeleton, the exoskeleton imposes no additional restrictions on the wearer when walking in the forward direction.

综上，本发明设计了一种用于横向行走康复的下肢外骨骼，通过腰部绑缚组件、动力模块、摆动支架组件、和大腿绑缚组件和电控组件实现髋关节横向运动助力与训练辅助，提出了一种新型的横向行走康复的下肢外骨骼方案。同时，一定程度改进了现有横向行走康复外骨骼的不足：该发明的外骨骼通过两组调整锁定结构和一组滑动自适应结构调整外骨骼结构尺寸，可适应不同体型的人群；主要结构固定在腰部绑缚上大幅减少***惯量；使用扭矩传感器连接伺服电机和横向摆动件，实时读取外骨骼对人体的横向助力或阻力；而且采用复制人体骨骼运动学的结构，由固定在腰部的伺服电机带动摆动件和大腿绑缚来对人体横向行走进行助力或阻力，贴合人体，对人体几乎不产生剪切力；同时因使用滑动自适应结构配合纵向行走的被动自由转轴，保证纵向行走动作不产生额外载荷。从而在所述第一阶段与第二阶段训练中，表现出更好的对不同穿戴者的适应性、训练的舒适性、更优秀的可控性、对纵向行走的兼容性。In summary, the present invention has designed a lower limb exoskeleton for lateral walking rehabilitation, which achieves hip joint lateral movement assistance and training assistance through the waist binding assembly, power module, swing bracket assembly, thigh binding assembly and electronic control assembly. , proposed a new lower limb exoskeleton solution for lateral walking rehabilitation. At the same time, the shortcomings of the existing lateral walking rehabilitation exoskeleton have been improved to a certain extent: the exoskeleton of the invention adjusts the size of the exoskeleton structure through two sets of adjustment locking structures and a set of sliding adaptive structures, which can adapt to people of different body types; the main structure is fixed The system inertia is greatly reduced when binding the waist; a torque sensor is used to connect the servo motor and the lateral swing member to read the lateral assistance or resistance of the exoskeleton to the human body in real time; and a structure that replicates the kinematics of the human skeleton is adopted, with the servo fixed at the waist The motor drives the swinging part and the thigh binding to provide assistance or resistance to the human body's lateral walking. It fits the human body and generates almost no shearing force on the human body. At the same time, the sliding adaptive structure is used in conjunction with the passive free rotation axis for longitudinal walking to ensure longitudinal walking movements. No additional load is generated. Therefore, in the first and second stages of training, it shows better adaptability to different wearers, training comfort, better controllability, and compatibility for longitudinal walking.

以上所述仅为本发明的实施例，并非以此限制本发明的保护范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的***领域，均同理包括在本发明的保护范围内。The above descriptions are only embodiments of the present invention, and are not intended to limit the scope of the present invention. Any equivalent structure or equivalent process transformation made by using the description and drawings of the present invention, or directly or indirectly applied to other related The system field is likewise included in the protection scope of the present invention.

Claims

一种横向行走康复下肢外骨骼，其特征在于： A lateral walking rehabilitation lower limb exoskeleton is characterized by:

包括腰部基座（1）、动力模块（2）、摆动支架组件（3）和大腿绑缚组件（4）；Includes waist base (1), power module (2), swing bracket assembly (3) and thigh binding assembly (4);

所述动力模块（2）包括左动力模块（21）和右动力模块（22），左动力模块（21）和右动力模块（22）结构相同，且对称地设置在腰部基座（1）的左右两侧；The power module (2) includes a left power module (21) and a right power module (22). The left power module (21) and the right power module (22) have the same structure and are symmetrically arranged on the waist base (1). left and right sides;

摆动支架组件（3）包括左摆动支架组件（31）和右摆动支架组件（32）；左摆动支架组件（31）和右摆动支架组件（32）结构相同，且分别与左动力模块（21）和右动力模块（22）连接；The swing bracket assembly (3) includes a left swing bracket assembly (31) and a right swing bracket assembly (32); the left swing bracket assembly (31) and the right swing bracket assembly (32) have the same structure, and are respectively the same as the left power module (21) Connected to the right power module (22);

大腿绑缚组件（4）包括左大腿绑缚组件（41）和右大腿绑缚组件（42）；左大腿绑缚组件（41）和右大腿绑缚组件（42）结构相同，且分别与左摆动支架组件（31）和右摆动支架组件（32）连接；The thigh binding component (4) includes a left thigh binding component (41) and a right thigh binding component (42); the left thigh binding component (41) and the right thigh binding component (42) have the same structure, and are respectively the same as the left thigh binding component (41). The swing bracket assembly (31) is connected to the right swing bracket assembly (32);

左动力模块（21）带动左摆动支架组件（31）和左大腿绑缚组件（41）实现左右摆动；右动力模块（22）带动右摆动支架组件（32）和右大腿绑缚组件（42）实现左右摆动；The left power module (21) drives the left swing bracket assembly (31) and the left thigh binding assembly (41) to swing left and right; the right power module (22) drives the right swing bracket assembly (32) and the right thigh binding assembly (42) Achieve left and right swing;

左大腿绑缚组件（41）、右大腿绑缚组件（42）分别通过左摆动支架组件（31）、右摆动支架组件（32）实现前后摆动。The left thigh binding component (41) and the right thigh binding component (42) swing forward and backward through the left swing bracket component (31) and the right swing bracket component (32) respectively.
根据权利要求1所述的一种横向行走康复下肢外骨骼，其特征在于： A lateral walking rehabilitation lower limb exoskeleton according to claim 1, characterized in that:

所述左动力模块（21）包括左电机安装板（211）、左伺服电机（212）、左联轴器（213）和左扭矩传感器（214）；The left power module (21) includes a left motor mounting plate (211), a left servo motor (212), a left coupling (213) and a left torque sensor (214);

所述左电机安装板（211）的一端与腰部基座（1）连接，且二者之间的距离可调，左伺服电机（212）与左电机安装板（211）的另一端固定，左扭矩传感器（214）通过左联轴器（213）与左伺服电机（212）的输出轴连接。One end of the left motor mounting plate (211) is connected to the waist base (1), and the distance between the two is adjustable. The left servo motor (212) is fixed to the other end of the left motor mounting plate (211). The torque sensor (214) is connected to the output shaft of the left servo motor (212) through the left coupling (213).
根据权利要求2所述的一种横向行走康复下肢外骨骼，其特征在于： A lateral walking rehabilitation lower limb exoskeleton according to claim 2, characterized in that:

所述腰部基座（1）的两侧设有连接板，连接板上设有长孔，电机安装板上也设有长孔，二者的长孔配合后通过螺栓放松锁紧配合，使得动力模块（2）可相对腰部基座（1）左右调整位置，形成横向调整锁定结构；所述腰部基座（1）的前部设有腰部束缚带。The waist base (1) is provided with connecting plates on both sides. The connecting plates are provided with long holes, and the motor mounting plate is also provided with long holes. After the long holes of the two are matched, the bolts are used to loosen and lock the fit, so that the power The module (2) can adjust its position left and right relative to the waist base (1) to form a lateral adjustment locking structure; a waist restraint belt is provided on the front of the waist base (1).
根据权利要求3所述的一种横向行走康复下肢外骨骼，其特征在于： A lateral walking rehabilitation lower limb exoskeleton according to claim 3, characterized by:

所述左摆动支架组件（31）包括左髋部主摆件（311）、左髋部伸缩件（312）、左销轴结构（313）和左大腿结构（314）；The left swing bracket assembly (31) includes a left hip main swing member (311), a left hip telescopic member (312), a left pin structure (313) and a left thigh structure (314);

左髋部主摆件（311）的一端与左扭矩传感器（214）固连；另一端与左髋部伸缩件（312）的一端连接，二者之间的距离可调；左髋部伸缩件（312）的另一端与左大腿结构（314）的一端通过左销轴结构（313）转动连接；左大腿结构（314）的另一端与大腿绑缚组件（4）连接，且二者的距离可调。One end of the left hip main swing piece (311) is fixedly connected to the left torque sensor (214); the other end is connected to one end of the left hip telescopic piece (312), and the distance between the two is adjustable; the left hip telescopic piece (312) The other end of the left thigh structure (312) is rotationally connected to one end of the left thigh structure (314) through the left pin structure (313); the other end of the left thigh structure (314) is connected to the thigh binding assembly (4), and the distance between the two can be tune.
根据权利要求4所述的一种横向行走康复下肢外骨骼，其特征在于： A lateral walking rehabilitation lower limb exoskeleton according to claim 4, characterized in that:

所述左髋部主摆件（311）为一弯折件，其与左髋部伸缩件（312）连接的一端设有导轨，左髋部伸缩件（312）设有滑块，该导轨、滑块组成导轨滑块结构；在滑块中心线上间隔排布通孔，与导轨中心线上设置的长孔相对应，通过螺栓放松锁紧配合，使得左髋部伸缩件（312）可沿前后方向调整尺寸，形成前后调整锁定结构。The left hip main swing piece (311) is a bending piece, and one end connected to the left hip telescopic piece (312) is provided with a guide rail, and the left hip telescopic piece (312) is provided with a slider. The blocks form a guide rail slider structure; through holes are arranged at intervals on the center line of the slider, corresponding to the long holes provided on the center line of the guide rail, and the locking fit is loosened by bolts, so that the left hip telescopic part (312) can move forward and backward Adjust the size in the direction to form a front and rear adjustment locking structure.
根据权利要求5所述的一种横向行走康复下肢外骨骼，其特征在于： A lateral walking rehabilitation lower limb exoskeleton according to claim 5, characterized in that:

所述左大腿绑缚（41）包括左定位块（411）、两个左绑缚连接板（412）、左大腿绑缚带（413）和左大腿绑缚销轴结构（414）；The left thigh binding (41) includes a left positioning block (411), two left binding connecting plates (412), a left thigh binding belt (413) and a left thigh binding pin structure (414);

左大腿绑缚定位块（411）与左绑缚连接板（412）通过左大腿绑缚销轴结构（414）连接，并且左绑缚连接板（412）相对大腿绑缚销轴结构（414）左右旋转，左大腿绑缚带（413）连接在左绑缚连接板（412）上。The left thigh binding positioning block (411) and the left binding connection plate (412) are connected through the left thigh binding pin structure (414), and the left thigh binding connection plate (412) is opposite to the thigh binding pin structure (414) Rotate left and right, and the left thigh binding belt (413) is connected to the left binding connecting plate (412).
根据权利要求6所述的一种横向行走康复下肢外骨骼，其特征在于： A lateral walking rehabilitation lower limb exoskeleton according to claim 6, characterized in that:

所述左定位块（411）上设有通孔，与所述左大腿结构（314）上设置的长孔相对应，通过螺栓锁定结构配合，使左大腿绑缚组件（41）可相对大腿结构（314）上下方向滑动，形成上下调整锁定结构。The left positioning block (411) is provided with a through hole, which corresponds to the long hole provided on the left thigh structure (314). Through the bolt locking structure, the left thigh binding assembly (41) can be positioned relative to the thigh structure. (314) slides up and down to form an up and down adjustment locking structure.
根据权利要求7所述的一种横向行走康复下肢外骨骼，其特征在于： A lateral walking rehabilitation lower limb exoskeleton according to claim 7, characterized in that:

所述两个左绑缚连接板（412）上均设有长槽孔，左大腿绑缚带（413）穿过两个左绑缚连接板（412）上长槽孔固定。The two left binding connection plates (412) are both provided with long slots, and the left thigh binding belt (413) is fixed through the long slots on the two left binding connection plates (412).
根据权利要求2-8任一所述的一种横向行走康复下肢外骨骼，其特征在于： A lateral walking rehabilitation lower limb exoskeleton according to any one of claims 2 to 8, characterized by:

还包括控制组件（51），所述控制组件（51）与左扭矩传感器（214）与右扭矩传感器（224）和所述动力模块（2）中的左伺服电机（212）和/或右伺服电机（222）电连接，控制组件（51）根据左扭矩传感器（214）与右扭矩传感器（224）在左右摆动方向的力矩输出反馈信号，控制左动力模块（21）和/或右动力模块（22）驱动摆动支架组件（3）和大腿绑缚组件（4）在左右方向摆动，形成针对输出左右方向摆动的力矩的横向摆动力矩反馈控制。Also includes a control component (51), the control component (51) and the left torque sensor (214) and the right torque sensor (224) and the left servo motor (212) and/or the right servo in the power module (2) The motor (222) is electrically connected, and the control component (51) controls the left power module (21) and/or the right power module (21) according to the torque output feedback signal of the left torque sensor (214) and the right torque sensor (224) in the left and right swing direction. 22) Drive the swing bracket assembly (3) and the thigh binding assembly (4) to swing in the left and right directions, forming a lateral swing torque feedback control for outputting the swing torque in the left and right directions.
根据权利要求9所述的一种横向行走康复下肢外骨骼，其特征在于： A lateral walking rehabilitation lower limb exoskeleton according to claim 9, characterized in that:

还包括行走状态识别组件，行走状态识别组件包括两个惯量测量传感器（52），两个惯量测量传感器（52）分别设置在左大腿绑缚组件（41）和右大腿绑缚组件（42）上，控制组件（51）与惯量测量传感器（52）电连接；It also includes a walking state recognition component. The walking state recognition component includes two inertia measurement sensors (52). The two inertia measurement sensors (52) are respectively provided on the left thigh binding component (41) and the right thigh binding component (42). , the control component (51) is electrically connected to the inertia measurement sensor (52);

控制组件（51）根据惯量测量传感器（52）的信号判断穿戴者当前步态，进而确定参考输出力矩，通过所述横向摆动力矩反馈控制，控制动力模块（2）带动摆动支架组件（3）和大腿绑缚组件（4）相对腰部基座（1）在左右方向摆动。The control component (51) determines the wearer's current gait based on the signal of the inertia measurement sensor (52), and then determines the reference output torque. Through the lateral swing torque feedback control, the control power module (2) drives the swing bracket component (3) and The thigh binding component (4) swings in the left and right direction relative to the waist base (1).