A lower limb assist exoskeleton device with spring energy storage and rapid unloading
An exoskeleton and energy storage technology, which is applied in the direction of equipment to help people walk, physical therapy, etc., can solve problems such as complex control algorithms, lack of passive power-assisted exoskeleton devices, high manufacturing and maintenance costs, and achieve easy-to-wear effects
Active Publication Date: 2021-10-08
TONGJI UNIV
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Problems solved by technology
However, the problem with active exoskeletons is that they are often bulky, require complex control algorithms, and require high manufacturing and maintenance costs
[0003] At present, there is still a lack of suitable passive power-assisted exoskeleton devices on the market
Method used
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Embodiment 1
[0044] This embodiment proposes a spring energy storage and quick unloading lower limb power-assisted exoskeleton, its structure is as follows Figure 4 , including a thigh mount 1 , an upper adapter part 2 , a spring energy storage part 3 , a middle adapter part 4 , a link part 5 , a lower adapter part 6 and a shoe part 7 .
[0045] The specific assembly relationship of the upper adapter part 2 is as follows: Figure 5 , the main function of the transfer part is to connect the thigh mount 1 and the spring energy storage part 3, so that the spring energy storage part 3 can rotate around an axis of the thigh mount 1. In addition to this function, the upper transfer part 2 also provides Compression spring 302 top support. The upper adapter part 2 is composed of a U-shaped joint 201, a first rotating bearing 202, a first nut 203, a first retaining ring 204, a first bearing seat 205, a first sleeve 206, a first bolt 207 and a first screw 208 , wherein the hole below the U-shaped...
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The invention relates to a spring energy storage and quick unloading lower limb power-assisted exoskeleton device, comprising a thigh mounting seat, an upper transfer part, a spring energy storage part, a middle transfer part, a connecting rod part, a lower transfer part and a shoe part , wherein, the upper transfer part is respectively connected to the thigh mounting seat and the upper part of the spring energy storage part, and makes the spring energy storage part relatively rotate around the thigh mounting seat, and the middle transfer part is respectively connected to the spring energy storage part and the connecting rod part, and makes the The top of the connecting rod part and the spring energy storage part can rotate relative to each other, and the lower transition part connects the connecting rod part and the shoe part respectively, and enables the connecting rod part to rotate relatively around the shoe part. Compared with the prior art, the present invention can avoid the defects of the active exoskeleton, and can adapt to the working conditions of standing, squatting and walking. In these three working conditions, the device can provide a certain degree of gravity support. The invention is more suitable for daily use because of its easy-to-wear and light-weight features.
Description
technical field [0001] The invention belongs to the field of assisting bones, and relates to a lower limb assisting exoskeleton device with spring energy storage and quick unloading. Background technique [0002] Arthritis and muscle damage caused by joint disease or excessive load exercise make people's lower limbs lose their original ability to move. The aging problem of the human body also leads to a series of lower limb inconveniences. Exoskeleton can improve these problems. There are some commercialized exoskeletons on the market. Most of them adopt active power-assisted solutions, which input energy to the human body through motors to support the human body. However, the problem with active exoskeletons is that they are often bulky, require complex control algorithms, and require high manufacturing and maintenance costs. Passive exoskeletons can avoid this problem, and the compact design can make the equipment small and reduce the cost, which is suitable for daily use...
Claims
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IPC IPC(8): A61H3/00
CPCA61H3/00A61H2003/005A61H2003/007A61H2205/10
Inventor 卜王辉彭奕佳朱昌德陈新宇李驰王汉卓武泽纪金帅黎思杭刘铭智卢德新袁九海翟佳乐
Owner TONGJI UNIV