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Disabled-helping advancing lower lib wearable exoskeleton and disabled-helping advancing method thereof

An exoskeleton and lower extremity technology, which can be applied to devices that help people to move around, physical therapy, etc., can solve the problems of inconvenience, the structural design of the disabled wearer is not reasonable and precise, and the economic burden of patients with lower extremity disabilities is increased, so as to improve the comfort level. Effect

Pending Publication Date: 2017-05-31
HANGZHOU ROBOCT TECH DEV CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The existing exoskeleton technology is mostly used to strengthen the load capacity of the human body, improve the sports performance of the human body, or be driven by hydraulic cylinders, cylinders, etc., which are too large to be worn easily, and the structural design does not fully meet the actual needs of patients with lower limb disabilities. It is not convenient to use and is not conducive to daily rehabilitation training, and the large-scale rehabilitation equipment in the rehabilitation center is too expensive, which increases the economic burden of many patients with lower limb disabilities
[0005] The structure design of the existing wearables for the disabled is not reasonable enough, which leads to the lack of coordination in the process of human body movement

Method used

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  • Disabled-helping advancing lower lib wearable exoskeleton and disabled-helping advancing method thereof
  • Disabled-helping advancing lower lib wearable exoskeleton and disabled-helping advancing method thereof
  • Disabled-helping advancing lower lib wearable exoskeleton and disabled-helping advancing method thereof

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specific Embodiment approach 1

[0030] In this embodiment, the exoskeleton is worn on the lower limbs of the disabled walking, such as Figure 1-Figure 2 As shown, its composition includes: symmetrically arranged thigh joints 1, calf joints 2, and foot support plates 3. The exoskeleton worn by the disabled walking lower limbs also includes a pair of crotch rotation motors 4, crotch rotation joints 5, thigh parts Motor and reducer 6, thigh attitude sensor 7, thigh length adjustment joint 8, lower leg motor and reducer 9, lower leg attitude sensor 10, lower leg length adjustment joint 11, ankle rotation and adduction joint 12, ankle attitude sensor 13 And pressure sensor 14, an attitude sensor 15, a battery 16, a group of strap fixing holes 17 and back beam 18;

[0031] The two thigh joints 1 are connected through the back beam 18 at the position corresponding to the crotch of the human body. The attitude sensor 15 and the battery 16 are installed on the back beam 18. The two sides of the back beam 18 are arra...

specific Embodiment approach 2

[0037] The difference from Embodiment 1 is that the exoskeleton worn by the lower limbs of the disabled walking in this embodiment, such as Figure 1-Figure 2 As shown, the thigh joint 1 also includes a main thigh joint part 19 and a thigh adduction angle adjustment joint 20, the lower end of the main thigh joint part 19 is hinged to the thigh adduction angle adjustment joint 20, and the thigh part length adjustment joint 8 is arranged in the thigh In the guide rail at the end of the angle adjustment joint 20. The present invention adds a thigh adduction angle adjustment joint 20, combined with ergonomics to make the thigh joint 1 part of the exoskeleton worn by the disabled walking lower limbs fit more closely with the wearer's thigh, and combined with the thigh posture sensor 7 to complete the thigh joint 1 in walking tasks in . And the increased thigh adduction angle adjustment joint 20 enables the femoral joint 1 of the exoskeleton worn by the lower limbs of the disabled ...

specific Embodiment approach 3

[0039] The difference from Embodiment 1 or Embodiment 2 is that in this embodiment, the exoskeleton is worn on the lower limbs of the walking aid for the disabled, such as Figure 1-Figure 2 As shown, the calf joint 2 also includes a main calf joint part 21 and a calf adduction angle adjustment joint 22, the lower end of the main calf joint part 21 is hinged to the calf adduction angle adjustment joint 22, and the calf part length adjustment joint 11 is arranged in the calf In the guide rail at the end of the angle adjustment joint 22. The present invention adds a calf adduction angle adjustment joint 22, combined with ergonomics to make the calf joint 2 part of the exoskeleton worn by the disabled walking lower limbs fit more closely with the wearer's thigh, and combined with the calf posture sensor 10, the thigh joint 1 is completed. A task in progress. And the increased calf adduction angle adjustment joint 22 enables the calf joint 2 of the exoskeleton worn by the disable...

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Abstract

The invention relates to a disabled-helping advancing lower lib wearable exoskeleton and a disabled-helping advancing method thereof. The existed disabled-helping wearer structure design is not reasonable and fine, so that the human body is not coordinate in advancing process. According to the disabled-helping advancing lower lib wearable exoskeleton, a crotch rotating joint (5) at every side drives a thigh joint (1) through a motor and a reducer (6) of the thigh part; a thigh part length adjusting joint (8) is connected with a shank joint (2) through a motor and a reducer (9) of the shank part; a shank part length adjusting joint (11) is connected with a foot holding plate (3) through a knee rotating and internal retraction joint (12); a pressure sensor (14) is mounted on the foot holding plate (3); the advancing gesture is detected through an ankle gesture sensor (13) and a pressure sensor (14). The disabled-helping advancing lower lib wearable exoskeleton has the advantages of being closer to human body and making movement of the human body more free.

Description

[0001] Technical field: [0002] The invention relates to an exoskeleton worn on the lower limbs for assisting the disabled in walking and a method for assisting the disabled in walking. [0003] Background technique: [0004] With the development of science and the progress of society, more and more patients with lower limb hemiplegia and paraplegia due to accidents and diseases are eager to recover the ability to walk with the help of technological development and get rid of the double pain of psychology and physiology. Exoskeleton technology is a modern comprehensive technology that integrates sensing, control, information mobile computing, etc., and provides a wearable mechanical structure for the operator. The walking exoskeleton for the disabled can help patients with lower limb disabilities to carry out rehabilitation treatment, avoid other diseases caused by long-term bed rest or sitting in a wheelchair for patients who have lost their mobility, regain the feeling of wa...

Claims

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Application Information

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IPC IPC(8): A61H3/00
CPCA61H3/00A61H2003/005A61H2003/007
Inventor 王天孙相宇王晓奇张洋
Owner HANGZHOU ROBOCT TECH DEV CO LTD
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