A displacement-force feedback lower limb active exoskeleton device
By designing a multi-degree-of-freedom detection system and a linear displacement sensor, the problem of the lower limb exoskeleton being susceptible to interference in the prior art is solved, and adaptive movement and high-precision detection of complex terrain are realized, which enhances the The carrying capacity of the exoskeleton.
Patent Information
- Application Number
- CN202211429545.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2022-11-15
- Publication Date
- 2024-12-27
- Estimated Expiration
- 2042-11-15
AI Technical Summary
Existing active exoskeleton devices of lower limbs are easily disturbed by upper limb movements or road surfaces, which is difficult to meet the needs of complex terrain and heavy equipment. The detection system is not independent and is easily disturbed by external interference.
Designed a displacement-force feedback lower limb active exoskeleton device, including hip, hip, thigh, knee, calf and foot components, using a multi-degree of freedom detection system and linear displacement sensor, through the detection component on the thigh and The inner side of the calf is set to achieve independent detection and is driven by slide rails and degree of freedom motors to ensure free movement of the thigh and high-precision detection.
It realizes adaptive movement to complex terrain, improves detection accuracy and load-bearing capacity of the exoskeleton, can withstand larger and heavier equipment and motor torque, and reduces external interference.
Smart Images
Figure CN115716261B_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of wearable exoskeletons, and in particular to a displacement-force feedback lower limb active exoskeleton device. Background Art
[0002] Wearable power-assisted exoskeletons are used to provide assistance to human joint movements and assist human movement. They have broad application prospects in auxiliary medical care, individual military operations, heavy physical labor and other fields.
[0003] The method of moving the lower limbs by driving the angle sensor through the swing of the upper limbs, as published in the article "Development of Energy-Assisted Skeleton Suit NAEIES" in the Journal of the Naval Engineering Academy, has greater limitations. When encountering situations where both hands are needed for climbing or rescuing trapped people, the angle sensors on the arms will find it difficult to drive the lower limbs.
[0004] The paper "Research on Lower Limb Exoskeleton Robot Following System" published by Southern Medical University uses a plantar pressure sensor for preprocessing and then uses an inclination sensor to detect the thigh. Although the design has a high degree of fit in the laboratory, the uneven road surface will obviously cause great interference to the plantar stress sensor.
[0005] Most of the current exoskeletons only have a single degree of freedom detection in front of them, which makes it difficult for such exoskeletons to meet the needs of free movement of the thighs and complex terrain. Moreover, many active exoskeletons are not completely independent of the detection system on the legs, and are easily affected by various terrains or other functions when in use. The current active exoskeletons analyze the movement of the lower limbs by first allowing the thighs to drive the exoskeleton to deform and then measuring the deformation of the exoskeleton. This problem will inevitably limit the development of exoskeletons into heavy equipment. Summary of the invention
[0006] The purpose of the present invention is to provide a displacement-force feedback lower limb active exoskeleton device to solve the problem that the detection system is easily disturbed by upper limb movements or road surface.
[0007] The technical solution adopted by the present invention is as follows:
[0008] The present invention proposes a displacement-force feedback lower limb active exoskeleton device, comprising a hip component, a crotch component, a thigh component, a detection component, a knee joint component, a calf component, an ankle joint bearing and a foot pedal; the crotch component is respectively rotatably connected to the bottom of the front sides of the left and right ends of the hip component; the upper end of the thigh component is correspondingly connected to the inner side of the crotch component; the lower end of the thigh component is connected to the upper end of the calf component through the knee joint component; the lower end of the calf component is connected to the foot pedal through the ankle joint bearing; the detection components are respectively arranged on the inner sides of the thigh component and the calf component.
[0009] Furthermore, the hip assembly includes an outer shell, an electric control box, a slide rail and a slider; the slide rail is transversely fixed to the front end surface of the electric control box; the outer shell is correspondingly arranged on the outside of the electric control box and the slide rail; the sliders are respectively correspondingly arranged on the left and right sides of the outer shell; the sliders are all L-shaped structures, one end of which passes through the outer shell and is correspondingly slidably connected to the slide rail.
[0010] Furthermore, the crotch component includes a crotch shell, front and rear freedom bearings, inner and outer freedom bearings, front and rear freedom motors and inner and outer freedom motors; the middle part of the upper end of the crotch shell is interference fit with the front bottom of the slider through a bearing; the inner and outer freedom motors are respectively arranged in the middle part of the rear side of the crotch shell, and their output ends pass through between the front and rear sides of the crotch shell; the front and rear sides of the output ends of the inner and outer freedom motors are respectively connected to the crotch shell through the inner and outer freedom bearings; the front and rear freedom motors are respectively arranged inside the crotch shell and fixedly connected to the output ends of the inner and outer freedom motors; the upper end of the thigh component is connected to the inner side of the crotch shell through the front and rear freedom bearings and is coaxially fixedly connected to the output ends of the front and rear freedom motors.
[0011] Furthermore, the thigh component includes a first limit member, a second limit member, a distance measuring line and a positioning slot; the upper end of the first limit member is rotatably connected to the inner side of the crotch shell through a front and rear freedom bearing and is coaxially fixed to the output end of the front and rear freedom motor; the positioning slot is symmetrically fixed on the front and rear sides of the lower part of the first limit member; the second limit member is correspondingly vertically slidably connected to the inner side of the first limit member; the distance measuring lines are evenly distributed on the side walls of the second limit member; a square wave transmitter is also installed inside the first limit member.
[0012] Furthermore, the knee joint assembly includes a knee joint motor and a knee joint bearing; the upper end of the calf assembly is coaxially fixedly connected to the output end of the knee joint motor; the front side of the output end of the knee joint motor passes through the upper end of the calf assembly and is coaxially connected to the lower end of the second limit assembly of the knee joint bearing.
[0013] Furthermore, the calf assembly includes a third limit member and a fourth limit member; the upper end of the third limit member is coaxially fixed to the output end of the knee joint motor, and positioning slots are also symmetrically fixed on the front and rear sides of the lower part of the third limit member; the fourth limit member is vertically slidably connected to the inner side of the third limit member; the lower end of the fourth limit member is rotatably connected to the foot pedal through an ankle joint bearing.
[0014] Furthermore, the detection component includes an annular hoop, a clamping block and a linear displacement sensor; an opening is provided on one side of the annular hoop, and clamping blocks corresponding to the positioning slots are respectively fixedly connected at both ends of the opening; the annular hoop is respectively fixedly connected to the positioning slots on the first limit member and the third limit member through the clamping blocks; the linear displacement sensor is arranged on the inner circumferential end surface of the annular hoop.
[0015] Compared with the prior art, the present invention has the following beneficial effects:
[0016] 1. The present invention realizes multi-degree-of-freedom detection, which allows the thigh to move freely to meet the needs of complex terrain;
[0017] 2. Independent of the detection system on the legs, it will not be subject to excessive external interference;
[0018] 3. The thigh only needs to deform the detection module to drive the entire exoskeleton, which has higher detection accuracy and can enable the exoskeleton to withstand larger and heavier equipment and carry motors with greater torque. BRIEF DESCRIPTION OF THE DRAWINGS
[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention;
[0020] Figure 2 for Figure 1 Schematic diagram of the structure of the mid-hip component;
[0021] Figure 3 for Figure 1 Schematic diagram of the structure of the mid-crotch component;
[0022] Figure 4 for Figure 1 Schematic diagram of the structure of the mid-thigh component;
[0023] Figure 5 for Figure 1 Schematic diagram of the structure of the detection component;
[0024] Figure 6 for Figure 1 Schematic diagram of the structure of the middle knee joint component;
[0025] Figure 7 for Figure 1 Schematic diagram of the structure connecting the mid-ankle joint bearing to the calf assembly and foot pedal.
[0026] Among them, the figure markings are: 1-hip component; 2-crotch component; 3-thigh component; 4-detection component; 5-knee joint component; 6-calf component; 7-ankle joint bearing; 8-foot pedal; 9-housing; 10-electric control box; 11-slide rail; 12-slider; 13-crotch shell; 14-front and rear freedom bearing; 15-inside and outside freedom bearing; 16-front and rear freedom motor; 17-inside and outside freedom motor; 18-first limiter; 19-second limiter; 20-distance measuring line; 21-positioning slot; 22-knee joint motor; 23-knee joint bearing; 24-third limiter; 25-fourth limiter; 26-annular hoop; 27-block; 28-linear displacement sensor. DETAILED DESCRIPTION
[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
[0028] It should be noted that in the description of the present invention, it should be noted that the orientation or position relationship indicated by the terms "up", "down", "top", "bottom", "one side", "the other side", "left", "right", etc. is based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, and does not mean that the device or element must have a specific orientation, be constructed and operated in a specific orientation.
[0029] like Figures 1 to 7 As shown, the overall structure of an embodiment of a displacement-force feedback lower limb active exoskeleton device proposed by the present invention is given, and the device includes a hip component 1, a crotch component 2, a thigh component 3, a detection component 4, a knee joint component 5, a calf component 6, an ankle joint bearing 7 and a foot pedal 8; the crotch component 2 is respectively rotatably connected to the bottom of the front sides of the left and right ends of the hip component 1; the thigh components 3 are respectively vertically arranged below the crotch component 2, and the upper ends of the thigh components 3 are correspondingly coaxially connected to the inner side of the crotch component 2; the lower end of the thigh component 3 is connected to the upper end of the calf component 6 through the knee joint component 5; the lower end of the calf component 6 is connected to the foot pedal 8 through the ankle joint bearing 7; the detection components 4 are respectively arranged on the inner sides of the thigh components 3 and the calf components 6.
[0030] The hip assembly 1 includes a housing 9, an electric control box 10, a slide rail 11 and a slider 12; the slide rail 11 is transversely fixed to the front end surface of the electric control box 10; the housing 9 is correspondingly wrapped around the outside of the electric control box 10 and the slide rail 11; the sliders 12 are respectively arranged on the left and right sides of the housing 9. In this embodiment, the sliders 12 are all L-shaped structures, and their short sides vertically pass through the housing 9 and are correspondingly slidably connected to the internal slide rail 11 through rollers loaded on the side.
[0031] The crotch assembly 2 includes a crotch shell 13, front and rear freedom bearings 14, inner and outer freedom bearings 15, front and rear freedom motors 16 and inner and outer freedom motors 17; a vertical fixed shaft is arranged in the middle of the upper end of the crotch shell 13, and is interference fit with the front bottom of the slider 12 through the bearing; the inner and outer freedom motors 17 are respectively fixed in the middle of the rear side of the crotch shell 13, and the output shafts of the inner and outer freedom motors 17 pass through the middle of the front and rear sides of the crotch shell 13; the front and rear sides of the output ends of the inner and outer freedom motors 17 are respectively connected to the front and rear sides of the crotch shell 13 through the inner and outer freedom bearings 15; the front and rear freedom motors 16 are respectively arranged inside the crotch shell 13 and fixedly connected to the output ends of the inner and outer freedom motors 17. Encoders connected to the electric control box 10 are respectively arranged on the front and rear freedom motors 16 and the inner and outer freedom motors 17.
[0032] The thigh component 3 includes a first limit member 18, a second limit member 19, a distance measuring line 20 and a positioning slot 21; the upper end of the first limit member 18 is rotatably connected to the inner side of the crotch shell 13 through the front and rear freedom bearings 14 and is coaxially fixed to the output end of the front and rear freedom motor 16; the positioning slot 21 is symmetrically fixed on the front and rear sides of the lower part of the first limit member 18; the second limit member 19 is vertically slidably connected to the inner side of the first limit member 18 through a sliding rail, and the length of the thigh component 3 can be adjusted through the sliding rail; the distance measuring lines 20 are evenly distributed on the side walls of the second limit member 19, and a square wave transmitter is also installed inside the first limit member 18 to detect the number of scanned distance measuring lines 20 to determine the center distance between the thigh root and the knee joint.
[0033] The knee joint assembly 5 includes a knee joint motor 22 and a knee joint bearing 23; the upper end of the calf assembly 6 is coaxially fixedly connected to the output end of the knee joint motor 22; the front side of the output end of the knee joint motor 22 passes through the upper end of the calf assembly 6 and is coaxially connected to the lower end of the second limit assembly 19 through the knee joint bearing 23. The knee joint assembly 5 is also coaxially equipped with an encoder. The linear displacement sensor 28 of the detection assembly 4 on the calf transmits data to the main board of the electric control box 10, and calculates the speed and duration that the knee joint motor 22 should output. After the relative displacement of all sensors on all calves and hams is reset to zero, the posture is judged by the data of the encoder, which is convenient for subsequent data recording.
[0034] The calf assembly includes a third stopper 24 and a fourth stopper 25; the upper end of the third stopper 24 is coaxially fixedly connected to the output end of the knee joint motor 22, and the front and rear sides of the lower part of the third stopper 24 are also symmetrically fixed with positioning slots 21; the fourth stopper 25 is also connected to the inner side of the third stopper 24 through a sliding rail corresponding to vertical sliding, so as to adjust the length of the calf assembly 6; the lower end of the fourth stopper 25 is rotatably connected to the foot pedal 8 through an ankle joint bearing 7. Since the ankle joint has many degrees of freedom and is difficult to control, the present invention adopts a non-powered process and limits it to one degree of freedom through only one ankle joint bearing 7.
[0035] The detection assembly 4 includes an annular hoop 26, a block 27 and a linear displacement sensor 28; an opening is provided on one side of the annular hoop 26, and blocks 27 corresponding to the positioning slots 21 are respectively fixedly connected at both ends of the opening; the annular hoop 26 is respectively fixedly connected to the positioning slots 21 on the first limiter 18 and the third limiter 24 through the blocks 27, so as to facilitate wearing; the linear displacement sensor 28 is arranged at different positions on the inner circumferential end surface of the annular hoop 26. In this embodiment, three linear displacement sensors 28 are arranged, which are respectively installed on the front and rear sides and the inner side of the inner circumferential end surface of the annular hoop 26, and the direction is perpendicular to the human thigh. The linear displacement sensors 28 at different positions are used to detect the instantaneous displacement of the thigh in different directions, and convert the data into electrical signals and transmit them to the main board of the electric control box 10. The main board of the electric control box 10 calculates the speed and duration that the front and rear freedom motors 16 and the inner and outer freedom motors 17 should output according to the information, thereby driving the entire exoskeleton to follow the thigh.
[0036] The detection principle of the present invention is: during the movement, the distance from the thigh to the hip is always at a constant value. We can assume that during the movement of the thigh, each position is a spherical motion around the hip. After decomposing the entire motion around the two degrees of freedom of front and inside and outside, it can be considered that the spherical motion is composed of two mutually perpendicular circular motions.
[0037] For circular motion, in order to monitor circular motion, it is necessary to provide the motion radius R and the speed V of the circular motion. The radius R is detected by the square wave generator on the first stopper 18 to detect the number of distance measuring lines 20 passing through the second stopper 19, and combined with the initial distance between the detection position of the first stopper 18 and the positioning slot 21 and the hip, we can obtain the actual distance between the thigh section and the hip monitored by the linear displacement sensor 28, that is, the motion radius R.
[0038] Before use, the data on the linear displacement sensor 28 recorded in the main board of the electric control box 10 is set to zero by pressing a button. During use, we can regard the thigh and the annular hoop 26 as a concentric circle, in which the current linear displacement sensor 28 is the current state of the thigh. When the thigh moves, the concentric circle state of the thigh and the annular hoop 26 will be destroyed, and the linear displacement sensors 28 in different directions on it will record the current instantaneous thigh displacement distance.
[0039] Because the period of the pulse signal is extremely short, we can turn the curve into a straight line and regard the current linear displacement sensor 28 in each direction as the instantaneous speed V in that direction.
[0040] With R and V, we can fully monitor a circular motion. When two mutually perpendicular circular motions are combined, we get the spherical motion we are looking for.
[0041] After receiving the data from the linear displacement sensor 28, the main board in the electric control box 10 analyzes the transmitted data and calculates the speed and direction that the internal and external freedom motor 17, the front and rear freedom motor 16 and the knee joint motor 22 should output through the corresponding formula to ensure that the value of the linear displacement sensor 28 returns to zero. At the same time, the main board of the electric control box 10 reads the data of the encoders of the three motors as an auxiliary analysis to determine the current motion state of the wearer and assist the main control board to control the power of the three motors more effectively.
[0042] Matters not described in detail in the present invention are known in the art.
[0043] The embodiments described above are merely descriptions of preferred implementation modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.
Claims
1. A displacement-force feedback lower limb active exoskeleton device, characterized in that: The device comprises a hip component, a crotch component, a thigh component, a detection component, a knee joint component, a calf component, an ankle joint bearing and a foot pedal; the crotch component is respectively and correspondingly connected to the bottom of the front sides of the left and right ends of the hip component; the upper end of the thigh component is correspondingly connected to the inner side of the crotch component; the lower end of the thigh component is connected to the upper end of the calf component through the knee joint component; the lower end of the calf component is connected to the foot pedal through the ankle joint bearing; the detection components are respectively arranged on the inner sides of the thigh component and the calf component; The hip assembly includes a housing, an electric control box, a slide rail and a slider; the slide rail is transversely fixed to the front end surface of the electric control box; the housing is correspondingly arranged outside the electric control box and the slide rail; the sliders are respectively correspondingly arranged on the left and right sides of the housing; the sliders are all L-shaped structures, one end of which passes through the housing and is correspondingly slidably connected to the slide rail; The crotch component includes a crotch shell, front and rear freedom bearings, inner and outer freedom bearings, front and rear freedom motors and inner and outer freedom motors; the middle part of the upper end of the crotch shell is interference fit with the bottom of the front side of the slider through a bearing; the inner and outer freedom motors are respectively arranged in the middle part of the rear side of the crotch shell, and their output ends run through between the front and rear sides of the crotch shell; the front and rear sides of the output ends of the inner and outer freedom motors are respectively connected to the crotch shell through the inner and outer freedom bearings; the front and rear freedom motors are respectively arranged inside the crotch shell and fixedly connected to the output ends of the inner and outer freedom motors; the upper end of the thigh component is connected to the inner side of the crotch shell through the front and rear freedom bearings and is coaxially fixedly connected to the output ends of the front and rear freedom motors; The thigh assembly includes a first limiter, a second limiter, a distance measuring line and a positioning slot; the upper end of the first limiter is rotatably connected to the inner side of the crotch shell through a front and rear freedom bearing and is coaxially fixed to the output end of the front and rear freedom motor; the positioning slot is symmetrically fixed to the front and rear sides of the lower part of the first limiter; the second limiter is correspondingly connected to the inner side of the first limiter in a vertical sliding manner; the distance measuring lines are evenly distributed on the side wall of the second limiter; a square wave transmitter is also installed inside the first limiter; The knee joint assembly includes a knee joint motor and a knee joint bearing; the upper end of the calf assembly is coaxially fixedly connected to the output end of the knee joint motor; the front side of the output end of the knee joint motor passes through the upper end of the calf assembly and is coaxially connected to the lower end of the second limit assembly through the knee joint bearing; The calf assembly includes a third limiter and a fourth limiter; the upper end of the third limiter is coaxially fixedly connected to the output end of the knee joint motor, and the front and rear sides of the lower part of the third limiter are also symmetrically fixed with positioning slots; the fourth limiter is correspondingly vertically slidably connected to the inner side of the third limiter; the lower end of the fourth limiter is rotatably connected to the foot pedal through the ankle joint bearing; The detection component includes an annular hoop, a clamping block and a linear displacement sensor; an opening is provided on one side of the annular hoop, and clamping blocks corresponding to the positioning slots are respectively fixedly connected at both ends of the opening; the annular hoop is respectively fixedly connected to the positioning slots on the first limit member and the third limit member through the clamping blocks; the linear displacement sensor is arranged at different positions on the inner circumferential end surface of the annular hoop, and the direction is perpendicular to the human thigh, so as to detect the instantaneous displacement of the thigh in different directions.