A plantar wheel-driven self-balancing powered exoskeleton for patients with spinal cord injuries

Abstract

The invention discloses a plantar wheel drive self-balancing powered exoskeleton for a patient with spinal cord injury. The plantar wheel drive self-balancing powered exoskeleton comprises hip joints, knee joints, ankle joints, a plantar drive module, a pelvis, thigh bones and shin bones. The ankle joints are unpowered passive joints and respectively have a rotational degree of freedom on a vertical plane and a coronal plane; the knee joints adopt active joint drivers; the hip joints are active joint drivers or controllable brakes; the knee joints and the hip joints have a rotational degree of freedom on the vertical plane; by matching with the advantage that plantar wheel drive both feet are always on the ground, kinesiology and kinetic equilibrium on the coronal plane can be achieved; a supporting device is designed at the pelvis, and body weight is transferred to the ground via the exoskeleton by the supporting device by utilizing the advantage that plantar wheel drive both feet are always on the ground, so that the body weight needing to be constrained by the exoskeleton is effectively decreased. Moreover, torsional springs and other energy storage components are designed at the joints, so that energy consumption of the drivers caused by load fluctuation in the vertical direction in the walking process can be reduced.

Description

technical field [0001] The invention belongs to the technical field of medical devices, and in particular relates to a powered lower limb medical exoskeleton technology. Background technique [0002] Spinal cord injury is a serious lower limb motor system loss disease, which can be divided into paraplegia and quadriplegia according to the degree of injury. Due to the loss of motor function of the lower limbs, patients with spinal cord injury need to rely on assistive devices to achieve basic life. The powered lower extremity exoskeleton can assist patients to walk upright, so it has become an intelligent medical rehabilitation device with great development potential. Since patients with spinal cord injuries cannot guarantee walking balance by themselves, exercise balance has become the focus and difficulty in exoskeleton design. [0003] At present, there are three main methods of exercise balance that have been practically applied: the first is the method of using auxiliar...

AI Technical Summary

Problems solved by technology

[0008] In order to overcome the problems that the existing lower extremity exoskeleton applied to patients with spinal cord injury can only cover paraplegic patients, limited movement balance ability and uncoordinated human-machine movement, the present invention discloses a lower extremity using plantar wheel drive and dynamic joints The exoskeleton can realize the movement balance in the sagittal plane and the coronal plane without the assistance of elbow crutches, help the whole spinal cord injury population to realize upright double-legged walking and rehabilitation training, and improve human-machine movement coordination

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