Six-lever apery gait power-assistant running mechanism

A technology of walking mechanism and gait, which is applied in the direction of devices that help people walk, physical therapy, etc., and can solve the problems of multiple driving devices, large volume, and complex control technology

Inactive Publication Date: 2009-02-11
HARBIN ENG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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The disadvantage of this type of technology is that there are man

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  • Six-lever apery gait power-assistant running mechanism
  • Six-lever apery gait power-assistant running mechanism
  • Six-lever apery gait power-assistant running mechanism

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Embodiment Construction

[0024] The present invention is described in more detail below in conjunction with accompanying drawing example:

[0025] The invention is mainly composed of a rod mechanism driving device and a single-degree-of-freedom six-bar mechanism, and simultaneously realizes the function of assisting walking based on a movable vehicle body.

[0026] combine figure 1 with figure 2 , movable car body is made up of driving wheel motor 10, driving wheel 11, universal wheel 9 and car body 13, and car body is driven to move freely by driving wheel, realizes turning left and right by the differential speed of driving wheel.

[0027] The driving device of the rod structure is mainly composed of a rod driving motor 14 and a sprocket mechanism 12 (including a sprocket and a chain). .

[0028] The single-degree-of-freedom six-bar mechanism includes short crank rod 1, long crank rod 2, connecting rod I4, connecting rod II3, thigh rod 6, calf rod 5, connecting shaft 15 and other hinge shafts; ...

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Abstract

The invention provides a six-rod assisted walking mechanism simulating the human gaits, which comprises a vehicle body, driving wheels and universal wheels at the bottom of the vehicle body, and a driving wheel motor arranged on the vehicle body and connected with the driving wheels. A six-rod mechanism with single freedom of motion and a rod mechanism driving device are respectively arranged at the left and the right sides of the vehicle body; the rod mechanism driving device consists of a rod driving motor, a driving sprocket, a driven sprocket and a chain; the six-rod mechanism with single freedom of motion is provided with a short crank rod, a long crank rod, a connecting rod I, a connecting rod II, a thigh rod and a shank rod. When the cranks are driven to rotate by the rod driving motor, the six-rod mechanism moves according to a specific rule, rendering the constraining parts on the thigh rod and shank rod to constrain the thigh and shank of the patient so as to enable the patient to move in accordance with the rules of natural human gaits. At the same time, the driving wheels drive the vehicle body to move at a walking speed, enabling the patients with extremity dysfunction to walk according to the normal gait tracks. The assisted walking device simulating the human gaits has the advantages of simple structure, excellent controllability and low cost.

Description

(1) Technical field [0001] The invention relates to a power-assisted walking mechanism, in particular to a power-assisted walking mechanism which uses a six-bar mechanism to simulate the gait trajectory of a normal person. (2) Background technology [0002] With the advancement of science and technology and the improvement of people's living standards, my country, like many countries in the world, is aging. Among the elderly population, there are a large number of patients with cerebrovascular diseases or nervous system diseases. Most of these patients are accompanied by hemiplegia or paraplegia symptoms, resulting in movement disorders of lower limbs; mostly. A device that can assist the human body to walk can meet the needs of this group of people, and the assisting walking mechanism is a key part of this type of device. [0003] When a normal person walks on foot, one heel strikes the ground until the heel of the same side touches the ground again, which is a walking cy...

Claims

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Application Information

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IPC IPC(8): A61H3/04
Inventor 张立勋王康杨勇
Owner HARBIN ENG UNIV
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