CN111840006A - Passive walking-aid exoskeleton - Google Patents
Passive walking-aid exoskeleton Download PDFInfo
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- CN111840006A CN111840006A CN201910958856.2A CN201910958856A CN111840006A CN 111840006 A CN111840006 A CN 111840006A CN 201910958856 A CN201910958856 A CN 201910958856A CN 111840006 A CN111840006 A CN 111840006A
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- 210000000689 upper leg Anatomy 0.000 claims abstract description 68
- 210000001699 lower leg Anatomy 0.000 claims abstract description 48
- 210000001624 hip Anatomy 0.000 claims abstract description 44
- 210000002683 foot Anatomy 0.000 claims abstract description 22
- 230000033001 locomotion Effects 0.000 claims abstract description 13
- 210000004197 pelvis Anatomy 0.000 claims abstract description 12
- 210000004394 hip joint Anatomy 0.000 claims abstract description 6
- 238000000034 method Methods 0.000 claims abstract description 6
- 230000008569 process Effects 0.000 claims abstract description 6
- 238000012545 processing Methods 0.000 claims abstract description 6
- 210000001015 abdomen Anatomy 0.000 claims abstract description 4
- 230000005540 biological transmission Effects 0.000 claims description 13
- 238000007789 sealing Methods 0.000 claims description 9
- 238000013016 damping Methods 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 6
- 238000005381 potential energy Methods 0.000 claims description 6
- 210000003127 knee Anatomy 0.000 claims description 5
- 206010066054 Dysmorphism Diseases 0.000 claims description 3
- 210000003423 ankle Anatomy 0.000 claims description 3
- 210000001217 buttock Anatomy 0.000 claims description 3
- 238000005265 energy consumption Methods 0.000 claims description 3
- 210000003414 extremity Anatomy 0.000 claims description 3
- 210000002414 leg Anatomy 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims description 3
- 230000001429 stepping effect Effects 0.000 claims description 3
- 238000003756 stirring Methods 0.000 claims description 2
- 230000005021 gait Effects 0.000 abstract description 13
- 210000000544 articulatio talocruralis Anatomy 0.000 abstract description 8
- 230000000694 effects Effects 0.000 abstract description 8
- 210000000629 knee joint Anatomy 0.000 abstract description 8
- 210000003141 lower extremity Anatomy 0.000 abstract description 8
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 239000011664 nicotinic acid Substances 0.000 abstract description 5
- 238000012549 training Methods 0.000 abstract description 4
- 230000009467 reduction Effects 0.000 abstract description 3
- 230000037396 body weight Effects 0.000 abstract description 2
- 238000012937 correction Methods 0.000 abstract description 2
- 230000036544 posture Effects 0.000 abstract 3
- 244000309466 calf Species 0.000 description 27
- 230000004064 dysfunction Effects 0.000 description 4
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- 230000006399 behavior Effects 0.000 description 1
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- 210000002346 musculoskeletal system Anatomy 0.000 description 1
- 238000013433 optimization analysis Methods 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 210000001698 popliteal fossa Anatomy 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
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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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The passive walking assisting exoskeleton comprises a waist fixing and supporting device, a thigh supporting device, a shank supporting device and a foot supporting device, wherein ergonomic characteristics of the waist, the abdomen, the pelvis, the thighs, the shanks and the like are fully considered according to key freedom degrees and human body space postures of hip joints, knee joints and ankle joints in the movement process of healthy human body gait walking, and all main components are designed into curved shapes meeting mechanical properties and are bound on the lower limbs of a user for wearing. The high-friction-coefficient rubber pad is added at the hinged shaft, the locking effect on the knee joint and the ankle joint can be realized in the walking ground contact link, the upper body weight of a user is conducted downwards to the ground through all components, the passive power-assisted walking, gait posture correction training, standing posture burden reduction and other multi-body using effects are realized indoors, friendly use experience is realized, the use function of bionic intelligence is realized, the light self weight and the low processing cost are realized, the field blank is filled, and the commercial production, popularization and popularization are facilitated.
Description
Technical Field
The invention belongs to the field of human body movement walking aid mechanical equipment, and relates to a passive walking aid exoskeleton capable of assisting gait movement of patients with lower limb movement dysfunction.
Background
The walking ability of the human body is one of the indispensable important behaviors for realizing the autonomous life, and the walking ability of the human body is enhanced or prolonged through auxiliary equipment for patients with lower limb movement dysfunction or special professional groups with the requirements of long-time walking, stooping and the like, so that the walking ability has important value. At present, exercise walking aid or gait training equipment with simple structure at home and abroad is commonly used in the field of power equipment for fitness, the bionic exercise assisting effect of a patient is difficult to realize, and non-bionic gait exercise assisting equipment can cause abnormal rehabilitation of different degrees to musculoskeletal system of the patient or cause abnormal compulsive assistance, so that the exercise comfort is limited. Most of the existing devices special for bionic gait assistance at home and abroad are active multi-degree-of-freedom mechanical systems, have complex mechanical structures and control systems, high cost and high manufacturing cost, are generally only suitable for purchasing and use in hospitals or rehabilitation institutions, and are difficult to use and popularize in families. Therefore, based on the key freedom degree of hip, knee and ankle joints in the gait walking process of a standard healthy user, the passive wearable exoskeleton mechanical equipment which is simple in mechanical structure, low in manufacturing cost, convenient to use and light in weight is designed according to the principles of bionics and ergonomics, and has important significance in the field of walking aid medical appliances or the field of protective equipment of industrial workers in industry.
Disclosure of Invention
The invention aims to provide a passive walking-aid exoskeleton which is simple in mechanism and convenient to use and popularize in families, and according to the bionics principle, a walking exercise assisting instrument which is good in human-computer interaction experience sense when a user carries out gait walking training is designed, active devices such as a motor are not used, light-weight structure processing is carried out, and the walking exercise assisting instrument is worn and used in a bundling manner through a seat plate, a bundling belt and the like, so that customized gait walking assistance and burden reduction are provided for different patients with lower limb movement dysfunction or users with movement endurance requirements.
In order to achieve the purpose, the invention is realized by the following technical scheme:
a passive help capable ectoskeleton include waist fixed stay device 1, thigh strutting arrangement 2, shank strutting arrangement 3, foot strutting arrangement 4, user's pelvis is dressed and is used outside arranging in waist fixed stay device 1 to hip joint position is connected back to thigh support and stirring with controlling two thigh strutting arrangements 2 respectively about, 2 lower extremes of thigh strutting arrangement are articulated in knee popliteal department with the upper end of shank strutting arrangement 3, and 3 lower extremes of shank strutting arrangement are articulated with the inside and outside dibit of foot strutting arrangement 4, bind at last and tie up and dress the use on user's low limbs.
Waist fixed stay 1 include waist supporting seat 101, the horizontal band 102 of waist, band base 103, the vertical band 104 of waist, waist supporting seat 101 is hard material integrated into one piece processing, can closely laminate user's pelvis shape, near the pelvis back is arranged in to the full parcel formula, behind the waist, under the buttockss and under the crotch, later through the horizontal band 102 of waist behind the horizontal constraint of user's belly, again with the vertical band 104 of waist and the fastening of band base 103 fastening formation integral type constraint fastening, ensure that waist fixed stay 1 can comfortable firm wearing use.
The thigh supporting device 2 comprises a coil spring 201, a transmission sealing cover 202, a thigh supporting sheet 203, a thigh strap 204 and a first special-shaped pin shaft 205, wherein the initial end of an inner core of the coil spring 201 is fixedly sleeved on a central cylindrical shaft in the transmission sealing cover 202, the outward rolling terminal end of the coil spring 201 is fixedly connected with the inner wall of a circular groove on the side surface of the waist supporting seat 101, then the transmission sealing cover 202 covers the circular grooves on the left side and the right side of the waist supporting seat 101 for hinged packaging, so that stable relative rotation can be realized between the two, the upper end of the thigh supporting sheet 203 is upwards welded on the outer circular surface of the transmission sealing cover 202, then the thigh supporting sheet 203 is downwards twisted by 90 degrees, the lower end is hinged at the upper end of the shank supporting device 3 through the first special-shaped pin shaft 205 at the knee poplites, when the thigh does downwards swinging motion in the forward gait of a user, the thigh supporting sheet 203 is pressed, when the thigh begins to swing upwards to carry out a leg-stepping action, the coil spring 201 releases stored elastic potential energy, and the thigh supporting sheet 203 provides assistance for the thigh in the leg-stepping action upwards, so that the coil spring 201 effectively stores gravitational potential energy and kinetic energy in the thigh movement, timely and reasonably releases the assistance, and physical energy consumption of a user is reduced.
The calf supporting device 3 comprises a first rubber mat 301, an upper calf supporting sheet 302, a limiting pin 303, a lower calf supporting sheet 304, a calf belt 305 and a second special-shaped pin 306, wherein the first rubber mat 301 is made of a flexible material with a high friction coefficient and is embedded into a round through hole at the upper end of the upper calf supporting sheet 302, a first special-shaped pin shaft 205 penetrates through a through hole at the lower end of the upper thigh supporting sheet 203 and a round through hole at the upper end of the upper calf supporting sheet 302 to fixedly connect the thigh supporting device 2 and the calf supporting device 3 in a hinged manner, so that frictional damping rotation can be realized between the calf supporting device 3 and the thigh supporting device 2, the lower calf supporting sheet 304 penetrates through a transverse arc-shaped groove at the lower part of the upper calf supporting sheet 302 through the limiting pin 303 to be fixedly connected, the length of the calf supporting device 3 is adjusted by selecting different transverse arc-shaped grooves, the lower calf supporting sheet 304 can be ensured to slide in an arc shape in the upper calf supporting sheet 302, the lower leg brace 304 is worn by being tied to the lower leg by a lower leg band 305.
Foot strutting arrangement 4 include second cushion 401, shoes body 402 is dressed and is used on user's foot, and second cushion 401 is embedded in the round hole of shoes body 402 heel upper portion left and right sides, and second dysmorphism round pin 306 passes under the shank behind two hexagonal trompils about supporting piece 304 lower extreme, articulates in the round hole of shoes body 402 heel upper portion left and right sides to can form frictional contact with second cushion 401, can make and be formed with the articulated rotation of frictional damping between shank strutting arrangement 3 and the foot strutting arrangement 4.
The invention has the beneficial effects that: the mechanical structure is designed into an accurate restraint system according to the bionics principle fully according to the key freedom degree and the human body space posture of hip, knee and ankle joints in the motion process in the healthy human body gait walking process, and the user with the movement dysfunction can be assisted to walk according to the standard healthy human body bionics walking state by effectively linking and supporting the pelvis, the knees, the ankles and the like of the user. The waist fixing and supporting device, the thigh supporting device, the crus supporting device and the foot supporting device are structurally designed in a way that ergonomic characteristics of human thighs, crus and the like are fully considered, the curve is designed to meet mechanical properties, rubber pads with high friction coefficients are added at the positions of the knee joints and the ankle joint hinge shafts of the equipment, the locking effect of the knee joints and the ankle joints can be achieved in the ground contact link, the weight of the upper body of a user is conducted downwards to the ground through all components, and the load compression of the weight of the upper body on lower limbs is reduced to the maximum extent. Furthermore, the self weight of the equipment component is reduced through the optimization analysis of the structure and the size, and the manufacturing cost can be saved. The invention can realize the use effects of passive power-assisted walking, gait posture correction training, standing posture burden reduction and other multi-body states indoors, has friendly use experience, bionic intelligent use function, light self weight and low processing cost, fills the blank of the field, and is beneficial to commercial production, popularization and popularization.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention.
FIG. 1 is an isometric view of a passive walking exoskeleton of the present invention.
Figure 2 is an exploded view of the construction of the lumbar fixation support device of the present invention.
Fig. 3 is an exploded view of the structure of the thigh support device of the invention.
FIG. 4 is an exploded view of the construction of the calf support device of the invention.
FIG. 5 is an exploded view of the foot support of the present invention.
Detailed Description
The details of the present invention and its embodiments are further described below with reference to the accompanying drawings.
A passive help capable ectoskeleton include waist fixed stay device 1, thigh strutting arrangement 2, shank strutting arrangement 3, foot strutting arrangement 4, user's pelvis is dressed and is used outward in waist fixed stay device 1 to hip joint position is connected back to thigh to two thigh strutting arrangements 2 about with respectively and is realized supporting, 2 lower extremes of thigh strutting arrangement and shank strutting arrangement 3 upper end are articulated in knee popliteal department, and 3 lower extremes of shank strutting arrangement are articulated with the inside and outside dibit of foot strutting arrangement 4, bind at last and tie up and dress the use on user's low limbs.
Waist fixed stay 1 include waist supporting seat 101, the horizontal band 102 of waist, band base 103, the vertical band 104 of waist, waist supporting seat 101 is hard material integrated into one piece processing, can closely laminate user's pelvis shape, near the pelvis back of placing in of full parcel formula, behind the waist, under the buttockss and the crotch, after then through the horizontal band 102 of waist from the horizontal constraint back of user's belly, form the integral type constraint fastening with the vertical band 104 of waist and the fastening of band base 103 straining again, guaranteed that waist fixed stay 1 can comfortable firm dress use.
The thigh supporting device 2 comprises a coil spring 201, a transmission seal cover 202, a thigh supporting sheet 203, a thigh strap 204 and a first special-shaped pin shaft 205, wherein the initial end of an inner core of the coil spring 201 is fixedly sleeved on a central cylindrical shaft in the transmission seal cover 202, the outward rolling terminal end of the coil spring 201 is fixedly connected with the inner wall of a circular groove on the side surface of the waist supporting seat 101, then the transmission seal cover 202 is hinged and packaged on the circular grooves on the left side and the right side of the waist supporting seat 101 in an inward hinged mode to realize stable relative rotation, the upper end of the thigh supporting sheet 203 is welded under the transmission seal cover 202 upwards, then after the downward 90-degree inward twisting, the lower end of the thigh supporting sheet is hinged to the upper end of the thigh supporting device 3 at a knee popliteal position through the first special-shaped pin shaft 205, when a thigh swings downwards in the forward gait of a user, the thigh supporting sheet 203 is pressed by the thigh to drive downwards, the coil spring 201 releases the stored elastic potential energy, and provides assistance for the thigh in the leg stepping action upwards through the thigh supporting sheet 203, so that the coil spring 201 effectively stores the gravitational potential energy and the kinetic energy in the thigh movement in the process, timely and reasonably releases the assistance, and the physical energy consumption of a user is reduced.
The calf support device 3 comprises a first rubber mat 301, an upper calf supporting piece 302, a limiting pin 303, a lower calf supporting piece 304, a calf strap 305 and a second special-shaped pin 306, the first rubber mat 301 is made of a flexible material with a high friction coefficient and is embedded into a cylindrical through hole at the upper end of the upper calf supporting piece 302, a first special-shaped pin shaft 205 penetrates through a through hole at the lower end of the upper thigh supporting piece 203 and a cylindrical through hole at the upper end of the upper calf supporting piece 302 to fixedly connect the thigh support device 2 and the calf support device 3 in a hinged mode, frictional damping rotation can be achieved between the calf support device 3 and the thigh support device 2, the lower calf supporting piece 304 penetrates through a transverse arc-shaped groove at the lower part of the upper calf supporting piece 302 through the limiting pin 303 to be fixedly connected, the length of the calf support device 3 is adjusted through selecting different transverse arc-shaped grooves, the lower supporting piece 304 can slide in the upper calf supporting piece 302 in an arc-shaped mode, and the lower calf supporting piece 304 with a degree of freedom for.
Foot strutting arrangement 4 include second cushion 401, shoes body 402 is dressed on user's foot, and second cushion 401 is embedded in the trompil of shoes body 402 heel upper portion left and right sides, foot strutting arrangement 4 include second cushion 401, shoes body 402 is dressed on user's foot, and second cushion 401 is embedded in the round hole of shoes body 402 heel upper portion left and right sides, and second dysmorphism round pin 306 passes behind two interior hexagonal trompils about shank lower stay 304 lower extreme, articulates in the round hole of connecting to shoes body 402 heel upper portion left and right sides to can form frictional contact with second cushion 401, guarantee that there is frictional damping to rotate in ankle department between shank strutting arrangement 3 and the foot strutting arrangement 4.
As a preferred example, when a user wears the passive walking aid exoskeleton, the waist fixing and supporting device 1 is stably worn on the pelvis of the user, the length of the lower leg supporting device 3 is adjusted according to the height and the length of the lower leg limb of the user, and the thigh supporting device 2, the lower leg supporting device 3 and the foot supporting device 4 are stably bound on the lower leg limb segments of the user through the thigh strap 204 and the lower leg strap 305 to be ready for use. The outer hexagonal end of the first special-shaped pin shaft 205 is assembled in an inner hexagonal opening at the lower end of the thigh supporting sheet 203 in an interference manner, the outer cylindrical end of the first special-shaped pin shaft 205 is assembled in a circular through hole at the upper end of the lower leg supporting sheet 302 in a clearance manner to realize frictional contact with the first rubber pad 301, the outer hexagonal end of the second special-shaped pin 306 is assembled in two inner hexagonal opening holes at the lower end of the lower leg supporting sheet 304 in an interference manner, the outer cylindrical end of the second special-shaped pin 306 is assembled in a circular hole of the shoe body 402 to form frictional contact with the second rubber pad 401, when the lower limb at the side is in a ground supporting state, the upper body weight of a user is transmitted through all stages of components and then loaded onto the first special-shaped pin shaft 205 until enough frictional force is generated with the first rubber pad 301 to fully prevent the rotation between the thigh supporting device 2 and the lower leg supporting device 3, namely, the locking effect on the knee joint of the user is realized, then the upper, until enough friction force is generated between the upper body and the second rubber cushion 401 to fully prevent the rotation between the lower leg supporting device 3 and the foot supporting device 4, namely, the locking effect on the ankle joints of the user is realized, and finally, the full locking state of the degrees of freedom of each joint of the lower limb exoskeleton in the ground supporting link is realized, all the weight of the upper body is transmitted downwards to the ground through each component, and the load compression of the weight of the upper body on the lower limbs is reduced to the maximum extent. Then, when the thigh of the user starts to rise, the downward pressure at the knee joint and the ankle joint is gradually weakened to gradually weaken the friction force at the hinged joint, the locking effect disappears, the rotational freedom degree of each joint is restored, and the thigh rises to perform the following walking action.
The above description is only a preferred example 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, improvement and the like of the present invention shall be included in the protection scope of the present invention.
Claims (5)
1. A passive walking assist exoskeleton comprising: waist fixed stay device (1), thigh strutting arrangement (2), shank strutting arrangement (3), foot strutting arrangement (4), user's pelvis is dressed and is used outside arranging in waist fixed stay device (1) to hip joint position is connected back to thigh support and stirring with controlling two thigh strutting arrangement (2) respectively about, thigh strutting arrangement (2) lower extreme is articulated in knee popliteal department with the upper end of shank strutting arrangement (3), and shank strutting arrangement (3) lower extreme is articulated with foot strutting arrangement (4) dibit, ties up at last and ties up and dresses the use on user's low limbs.
2. The passive walking assist exoskeleton of claim 1, wherein: waist fixed stay (1) including waist supporting seat (101), the horizontal band of waist (102), band base (103), the vertical band of waist (104), waist supporting seat (101) are hard material integrated into one piece processing, can closely laminate user's pelvis shape, close to the pelvis of full parcel formula and place in behind, behind the waist, under the buttockss and under the crotch, after follow the horizontal constraint back of user's belly through the horizontal band of waist (102), form integral type constraint fastening with the vertical band of waist (104), the fastening of band base (103) straining again, ensure that waist fixed stay (1) can comfortable firm wearing and use.
3. A passive walking assisting exoskeleton as claimed in claims 1 and 2 wherein: the thigh supporting device (2) comprises a coil spring (201), a transmission sealing cover (202), thigh supporting pieces (203), a thigh strap (204) and a first special-shaped pin shaft (205), wherein the initial end of an inner core of the coil spring (201) is fixedly sleeved on a central cylindrical shaft in the transmission sealing cover (202), the outward-rolling terminal end of the coil spring (201) is fixedly connected with the inner wall of a circular groove on the side surface of a waist supporting seat (101), then the transmission sealing cover (202) covers the circular grooves on the left side and the right side of the waist supporting seat (101) to be hinged and packaged, stable relative rotation can be realized between the transmission sealing cover and the waist supporting seat, the upper ends of the thigh supporting pieces (203) are upwards welded on the outer circular surface of the transmission sealing cover (202), after the thigh supporting pieces (203) are downwards twisted inwards by 90 degrees, the lower ends are hinged at the upper end of the thigh supporting device (3) through the first special-shaped pin shaft (205) at the, the thigh supporting sheet (203) is pressed by a thigh to swing downwards integrally, the coil spring (201) is curled to compress and store energy, then when the thigh swings upwards to carry out a leg stepping action, the coil spring (201) releases stored elastic potential energy, the thigh supporting sheet (203) provides assistance for the thigh in the leg stepping action upwards, the coil spring (201) effectively stores gravitational potential energy and kinetic energy in the thigh movement in the process, timely and reasonably releases the assistance, and physical energy consumption of a user is reduced.
4. A passive walking assisting exoskeleton as claimed in claims 1 and 3 wherein: the crus supporting device (3) comprises a first rubber cushion (301), a crus upper supporting sheet (302), a limiting pin (303), a crus lower supporting sheet (304), a crus strap (305) and a second special-shaped pin (306), wherein the first rubber cushion (301) is made of a flexible material with a high friction coefficient and is embedded into a round through hole at the upper end of the crus upper supporting sheet (302), a first special-shaped pin shaft (205) penetrates through a hexagonal through hole at the lower end of the thigh supporting sheet (203) and a round through hole at the upper end of the crus upper supporting sheet (302) to hinge and fixedly connect the thigh supporting device (2) and the crus supporting device (3), so that frictional damping rotation can be realized between the crus supporting device (3) and the thigh supporting device (2), the crus lower supporting sheet (304) penetrates through a transverse arc-shaped groove at the lower part of the crus upper supporting sheet (302) through the limiting pin (303) to be fixedly connected, the length of the crus supporting device (3, and the lower leg supporting piece (304) can be ensured to slide in an arc shape in the upper leg supporting piece (302), the degree of freedom of adduction and abduction of the lower leg is partially released, and the lower leg supporting piece (304) can be bound on the lower leg through a lower leg strap (305) for wearing.
5. A passive walking assisting exoskeleton as claimed in claims 1 and 4 wherein: foot strutting arrangement (4) include second cushion (401), the shoes body (402), shoes body (402) are dressed and are used on user's foot, second cushion (401) are embedded in the trompil of shoes body (402) heel upper portion left and right sides, behind two interior hexagonal through-holes about second dysmorphism round pin (306) pass under the shank brace (304) lower extreme, the articulated round hole that links firmly shoes body (402) heel upper portion left and right sides in to can form frictional contact with second cushion (401), guarantee between shank strutting arrangement (3) and foot strutting arrangement (4) can realize having frictional damping in ankle department and rotate.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910958856.2A CN111840006A (en) | 2019-10-10 | 2019-10-10 | Passive walking-aid exoskeleton |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910958856.2A CN111840006A (en) | 2019-10-10 | 2019-10-10 | Passive walking-aid exoskeleton |
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| CN111840006A true CN111840006A (en) | 2020-10-30 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113370183A (en) * | 2021-06-19 | 2021-09-10 | 刘坤 | Stooping carrying power-assisted robot |
| CN113730180A (en) * | 2021-08-18 | 2021-12-03 | 浙江工业大学 | Lower limb exoskeleton robot |
| CN114776754A (en) * | 2022-04-27 | 2022-07-22 | 西安交通大学 | Variable displacement type magnetofluid variable damping rotary joint |
| CN115781633A (en) * | 2022-10-08 | 2023-03-14 | 谢荣堃 | Support type load walking booster |
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| CN113730180A (en) * | 2021-08-18 | 2021-12-03 | 浙江工业大学 | Lower limb exoskeleton robot |
| CN113730180B (en) * | 2021-08-18 | 2024-02-20 | 浙江工业大学 | A lower limb exoskeleton robot |
| CN114776754A (en) * | 2022-04-27 | 2022-07-22 | 西安交通大学 | Variable displacement type magnetofluid variable damping rotary joint |
| CN115781633A (en) * | 2022-10-08 | 2023-03-14 | 谢荣堃 | Support type load walking booster |
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