A wearable intelligent exoskeleton assisting device

Abstract

The application discloses a wearable smart exoskeleton auxiliary device and belongs to the technical field of exoskeleton assisting force. The wearable smart exoskeleton auxiliary device comprises a wearing assembly, an energy recovery assembly and a driving control assembly. The wearing assembly comprises a waist wearing piece, a thigh wearing piece and a calf wearing piece, the calf wearing piece is provided with a power assisting force arm, and one end of the power assisting force arm extends away from the calf wearing piece. The energy recovery assembly comprises a limiting seat, a limiting block and an elastic piece. The driving control assembly comprises a controller, a driving module, a Bowden cable and an electromyographic sensor. The controller and the driving module are located on the waist wearing piece. The controller is electrically connected with the driving module and the electromyographic sensor respectively. The output end of the driving module is in transmission connection with one end of the Bowden cable. The wearable smart exoskeleton auxiliary device provided by the application can simultaneously realize assisting force for the hip joint and the knee joint, thereby reducing the mass of the driving module.

Description

Technical Field

[0001] This invention belongs to the field of exoskeleton assistive technology, specifically relating to a wearable intelligent exoskeleton assistive device. Background Technology

[0002] Wearable exoskeleton assistive devices can provide auxiliary torque to the joints of the lower limbs, thereby improving human mobility and reducing metabolic energy consumption during exercise. Human walking is usually a complex movement involving multiple joints, especially in complex environments such as going up and down slopes or stairs, where multiple joints, such as the hip and knee joints, move simultaneously.

[0003] However, existing wearable exoskeleton assistive devices employ multiple drive structures and circuits to provide assistance to the hip and knee joints separately, resulting in complex structures and heavy weight. Furthermore, the large amount of assistive energy provided by existing wearable exoskeletons during use leads to a greater mass of the power source required, all of which increase the load on the user. Summary of the Invention

[0004] In view of the above-mentioned defects or improvement needs of the existing technology, the present invention provides a wearable intelligent exoskeleton assistive device, which aims to provide active and passive assistance to the hip and knee joints simultaneously, thereby greatly reducing the weight of the drive module.

[0005] This invention provides a wearable intelligent exoskeleton assistive device, which includes a wearable component, an energy recovery component, and a drive control component;

[0006] The wearable assembly includes a waist wearable, a thigh wearable, and a calf wearable. The waist wearable is worn on the waist of a person, the thigh wearable is worn on the thigh of a person, and the calf wearable is worn on the calf of a person. The calf wearable has a lever arm, one end of which extends away from the calf wearable.

[0007] The energy recovery component includes a limiting seat, a limiting block, and an elastic element. The limiting seat is located at the bottom of the waist wear piece and protrudes from the buttocks of the human body. The elastic element is located below the assist arm, and one end of the elastic element is fixed to the calf wear piece.

[0008] The drive control assembly includes a controller, a drive module, a Bowden wire, and an electromyography (EMG) sensor. The controller and the drive module are located on the waist wearable device. The controller is electrically connected to the drive module and the EMG sensor, respectively. The output end of the drive module is drivenly connected to one end of the Bowden wire to retract the Bowden wire. The limiting block is fixedly disposed on the middle of the Bowden wire. The other end of the Bowden wire passes sequentially through the limiting seat, the thigh wearable device, and the other end of the assist arm before being connected to the other end of the elastic element. The EMG sensor is used to be installed on the human thigh or human calf.

[0009] Optionally, the limiting seat includes a mounting plate, a first side plate, and a second side plate. The mounting plate, the first side plate, and the second side plate are arranged in a U-shape. The mounting plate is located at the bottom of the waist wear piece. The first side plate is located above the second side plate and spaced apart. The first side plate and the second side plate have through holes for passing through the Bowden line. The limiting block is located between the first side plate and the second side plate.

[0010] Optionally, the wearable assembly further includes a first sleeve for guiding the stretching of the Bowden cable, the two ends of the first sleeve being fixed to the drive module and the first side plate.

[0011] Optionally, the Bowden line includes a first segment, a last segment, and two intermediate segments, the two intermediate segments being located between the first segment and the last segment, and the first segment and the last segment being connected to the two ends of the two intermediate segments respectively, the two intermediate segments passing through both sides of the thigh wearer.

[0012] Optionally, the wearable assembly further includes two second sleeves for guiding the stretching of the Bowden line, the two second sleeves being respectively inserted into both sides of the thigh wearable piece, and each of the intermediate sections being inserted into the corresponding second sleeve.

[0013] Optionally, the first segment and the tail segment are respectively connected to the two ends of the two intermediate segments via connectors.

[0014] Optionally, the waist wearable device includes a soft wearable part and a hard wearable part connected to each other, the soft wearable part being worn on the waist of a person, and the drive module and the limiting seat being located on the hard wearable part.

[0015] Optionally, a pulley is provided at the other end of the assist arm, and the Bowden line passes through the pulley.

[0016] In summary, the beneficial effects of the above-described technical solutions conceived by this invention compared with the prior art are as follows:

[0017] In the wearable intelligent exoskeleton assistive device provided in this embodiment of the invention, the waist wearer, thigh wearer, and calf wearer are first worn on the waist, thigh, and calf respectively. During the forward leg swing, the thigh and calf swing accelerate initially, increasing the angle between the thigh and calf, and between the waist and thigh, causing the Bowden cable to gradually move downwards and be stretched. Then, when the Bowden cable moves the limiting block to abut against the limiting seat, the body begins to decelerate the swing of the thigh and calf (the thigh and calf still swing forward; the electromyography sensor detects the electromyographic signal of the thigh swinging forward, and the controller does not control the drive module to drive the motor to retract the Bowden cable), thus allowing the leg to land smoothly. During this process, due to the limiting seat's restraint on the limiting block and Bowden cable, the Bowden cable does not continue to move downwards, causing the elastic element to be stretched, thereby converting the energy used to overcome the deceleration of the thigh and calf into the elastic force of the elastic element. After the leg lands, the restoring force generated by the elastic element along the Bowden line simultaneously reduces the angle between the lower leg and the thigh (i.e., passively providing recovery assistance to the knee joint) and the angle between the thigh and the lower leg (i.e., passively providing recovery assistance to the hip joint). At this point, there is no need to activate the drive module; torque is provided passively and simultaneously by utilizing the energy recovered and stored in the elastic element during the forward swing. This not only avoids setting up multiple drive structures and circuits but also reduces the usage time of the power source in the drive module, thus significantly reducing the mass of the drive module.

[0018] As the elastic force of the elastic element gradually decreases (insufficient to complete the remaining retraction action), when the electromyography sensor detects that the electromyography signal during thigh retraction exceeds the set value, the controller will control the drive module to drive the motor to actively retract the Bowden cable. This simultaneously reduces the angle between the lower leg and the thigh (i.e., actively assists in the retraction of the knee joint) and the angle between the thigh and the lower leg (i.e., actively assists in the retraction of the hip joint). By using the torque provided by a single drive module, it actively and simultaneously assists in the hip and knee joints, ultimately achieving standing. This also avoids setting up multiple drive structures and circuits, further reducing the weight of the drive module.

[0019] In other words, the wearable smart exoskeleton assistive device provided by the embodiments of the present invention can actively and passively assist the hip and knee joints simultaneously, thereby greatly reducing the weight of the drive module. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of a wearable intelligent exoskeleton assistive device provided in an embodiment of the present invention;

[0021] Figure 2 This is a schematic diagram of the limiting seat provided in an embodiment of the present invention.

[0022] In all the accompanying drawings, the same reference numerals denote the same technical features, specifically:

[0023] 1. Wearable component; 11. Waist wearable component; 12. Thigh wearable component; 13. Lower leg wearable component; 131. Assistive arm; 14. First cable sleeve; 15. Second cable sleeve; 2. Energy recovery component; 21. Limiting seat; 211. Mounting plate; 212. First side plate; 213. Second side plate; 22. Limiting block; 23. Elastic component; 3. Drive control component; 31. Drive module; 32. Bowden cable; 321. First section; 322. Tail section; 323. Middle section; 324. Connector; 33. Electromyography sensor; 100. Thigh; 200. Lower leg. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0025] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0026] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0027] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0028] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0029] Example:

[0030] Figure 1 This is a schematic diagram of the structure of a wearable intelligent exoskeleton assistive device provided in an embodiment of the present invention, as shown below. Figure 1 As shown, the wearable smart exoskeleton assistive device includes a wearable component 1, an energy recovery component 2, and a drive control component 3.

[0031] Wearable component 1 includes a waist wearable component 11, a thigh wearable component 12, and a calf wearable component 13. The waist wearable component 11 is worn on the waist of a human body, the thigh wearable component 12 is worn on the thigh 100 of a human body, and the calf wearable component 13 is worn on the calf 200 of a human body. The calf wearable component 13 has a power-assisting arm 131, one end of which extends away from the calf wearable component 13.

[0032] The energy recovery component 2 includes a limiting seat 21, a limiting block 22, and an elastic element 23. The limiting seat 21 is located at the bottom of the waist wear piece 11 and protrudes from the buttocks of the human body. The elastic element 23 is located below the assist arm 131, and one end of the elastic element 23 is fixed to the lower leg wear piece 13.

[0033] The drive control component 3 includes a controller, a drive module 31, a Bowden wire 32, and an electromyography (EMG) sensor 33. The controller and drive module 31 are located on the waist wearable device 11. The controller is electrically connected to the drive module 31 and the EMG sensor 33 respectively. The output end of the drive module 31 is connected to one end of the Bowden wire 32 to retract the Bowden wire 32. The limiting block 22 is fixedly set on the middle of the Bowden wire 32. The other end of the Bowden wire 32 passes through the limiting seat 21, the thigh wearable device 12, and the other end of the assist arm 131 in sequence and is connected to the other end of the elastic member 23. The EMG sensor 33 is used to be installed on the human thigh 100 or the human calf 200.

[0034] In the wearable intelligent exoskeleton assistive device provided in this embodiment of the invention, the waist wearer 11, thigh wearer 12, and calf wearer 13 are first worn on the waist, thigh 100, and calf 200 respectively. During the forward leg swing, the thigh 100 and calf 200 swing faster, increasing the angle between the thigh 100 and calf 200, and between the waist and thigh 100, causing the Bowden cable 32 to gradually move downwards and be stretched. Then, when the Bowden cable 32 moves the limiting block 22 to abut against the limiting seat 21, the body begins to decelerate the swing of the thigh 100 and calf 200 (the thigh 100 and calf 200 will still swing forward; the electromyography sensor 33 detects the electromyography signal of the thigh 100 swinging forward; the controller will not control the drive module 31 to drive the motor to retract the Bowden cable 32; this is illustrated by the example of the electromyography sensor 33 being located on the thigh 100), thus allowing the leg to land smoothly. During this process, due to the limiting seat 21's restriction on the limiting block 22 and Bowden line 32, Bowden line 32 will not continue to move downwards, thus stretching the elastic element 23. This converts the energy used to overcome the deceleration of the thigh 100 and lower leg 200 into the elastic force of the elastic element 23. After the leg lands, the restoring elastic force generated by the elastic element 23 along Bowden line 32 can simultaneously reduce the angle between the lower leg 200 and the thigh 100 (i.e., passively providing recovery assistance to the knee joint) and the angle between the thigh 100 and the lower leg 200 (i.e., passively providing recovery assistance to the hip joint). At this time, there is no need to activate the drive module. The torque is provided passively and simultaneously by using the energy recovered and stored in the elastic element 23 during the forward swing. This not only avoids setting up multiple drive structures and circuits but also reduces the usage time of the power source in the drive module, thus greatly reducing the mass of the drive module.

[0035] As the elastic force of the elastic element 23 gradually decreases (insufficient to complete the remaining retraction action), when the electromyography sensor 33 detects that the electromyography signal of the thigh 100 during retraction exceeds the set value, the controller will control the drive module 31 to drive the motor to actively retract the Bowden line 32, thereby simultaneously reducing the angle between the lower leg 200 and the thigh 100 (i.e., actively assisting the retraction of the knee joint) and the angle between the thigh 100 and the lower leg 200 (i.e., actively assisting the retraction of the hip joint). By using the torque provided by a single drive module, active and simultaneous assistance is provided to the hip and knee joints, ultimately achieving standing. This also avoids setting up multiple drive structures and circuits, further reducing the weight of the drive module.

[0036] In other words, the wearable smart exoskeleton assistive device provided by the embodiments of the present invention can actively and passively assist the hip and knee joints simultaneously, thereby greatly reducing the weight of the drive module.

[0037] It should be noted that this wearable intelligent exoskeleton assistive device can be used by crew members for walking on the ship's hull, providing assistance and saving effort. Furthermore, this wearable intelligent exoskeleton assistive device, combined with controllers and sensors, is even more intelligent.

[0038] It is easy to understand that during human walking, the thigh 100 and the lower leg 200 work together. This invention can monitor the human walking state by setting an electromyography sensor 33 on the thigh 100 or the lower leg 200 to measure the electromyography signal in real time. Moreover, the electromyography signals generated at different stages are also different.

[0039] In addition, the drive module 31 includes a drive component and a power source, wherein the drive component can be a motor or electric motor, and the power source can be a battery.

[0040] For example, the elastic element 23 can be a spring.

[0041] Figure 2 This is a schematic diagram of the structure of the limiting seat provided in an embodiment of the present invention, as shown below. Figure 2 As shown, the limiting seat 21 includes a mounting plate 211, a first side plate 212, and a second side plate 213. The mounting plate 211, the first side plate 212, and the second side plate 213 are arranged in a U-shape. The mounting plate 211 is located at the bottom of the waist wear piece 11. The first side plate 212 is located above the second side plate 213 and spaced apart. The first side plate 212 and the second side plate 213 have through holes for passing through the Bowden wire 32. The limiting block 22 is located between the first side plate 212 and the second side plate 213.

[0042] In the above embodiment, the first side plate 212 can limit the upward movement of the Bowden line 32, while the second side plate 213 can limit the downward movement of the Bowden line 32. This not only limits the movement of the limiting block 22 during human walking, but also prevents the elastic element 23 from failing.

[0043] For example, ear plates are provided on both opposite sides of the limiting block 22. The Bowden line 32 can be regarded as two segments, each segment being fixedly connected to each ear plate, thereby achieving a reliable connection between the Bowden line 32 and the limiting block 22.

[0044] Furthermore, the wearable component 1 also includes a first sleeve 14 for guiding the stretching of the Bowden cable 32, with both ends of the first sleeve 14 fixed to the drive module 31 and the first side plate 212. The first sleeve 14 can guide and direct the Bowden cable 32, ensuring reliable torque on the thigh 100 and calf 200 when the Bowden cable 32 is retracted, while reducing friction.

[0045] In this embodiment, the Bowden line 32 includes a first segment 321, a last segment 322 and two intermediate segments 323. The two intermediate segments 323 are located between the first segment 321 and the last segment 322, and the first segment 321 and the last segment 322 are respectively connected to the two ends of the two intermediate segments 323. The two intermediate segments 323 pass through both sides of the thigh wear piece 12.

[0046] In the above embodiment, by setting the middle part of the Bowden line 32 into two intermediate sections 323, a reliable function of the thigh wear piece 12 can be achieved, ensuring the stability of the torque on the thigh 100.

[0047] Similarly, the wearable component 1 also includes two second thread sleeves 15 for guiding the stretching of the Bowden line 32. The two second thread sleeves 15 are respectively inserted into the two sides of the thigh wearable component 12, and each intermediate segment 323 is inserted into the corresponding second thread sleeve 15.

[0048] For example, the first segment 321 and the last segment 322 are respectively connected to the two ends of the two intermediate segments 323 via connectors 324, thereby ensuring a reliable connection.

[0049] Furthermore, the waist wearable component 11 includes a soft wearable part and a hard wearable part connected to each other. The soft wearable part is worn on the waist of a person, and the drive module 31 and the limiting seat 21 are located on the hard wearable part.

[0050] It is easy to understand that the soft wearable part can be easily worn, while the hard wearable part can reliably support the drive module 31 and the limit seat 21.

[0051] For example, a pulley is provided on the other end of the assist arm 131, through which the Bowden line 32 passes, thereby reducing the friction between the Bowden line 32 and the assist arm 131.

[0052] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A wearable intelligent exoskeleton assistive device, characterized in that, The wearable intelligent exoskeleton assistive device includes a wearable component (1), an energy recovery component (2), and a drive control component (3). The wearable component (1) includes a waist wearable part (11), a thigh wearable part (12) and a calf wearable part (13). The waist wearable part (11) is worn on the waist of a human body, the thigh wearable part (12) is worn on the thigh (100) of a human body, and the calf wearable part (13) is worn on the calf (200) of a human body. The calf wearable part (13) has a lever arm (131), one end of which extends away from the calf wearable part (13). The energy recovery component (2) includes a limiting seat (21), a limiting block (22), and an elastic element (23). The limiting seat (21) is located at the bottom of the waist wear piece (11) and protrudes from the buttocks of the human body. The elastic element (23) is located below the assist arm (131), and one end of the elastic element (23) is fixed on the lower leg wear piece (13). The elastic element is used to passively and simultaneously provide torque by using the energy stored in the elastic element to assist the hip and knee joints. The drive control component (3) includes a controller, a drive module (31), a Bowden wire (32), and an electromyography sensor (33). The controller and the drive module (31) are located on the waist wearable device (11). The controller is electrically connected to the drive module (31) and the electromyography sensor (33) respectively. The output end of the drive module (31) is connected to one end of the Bowden wire (32) to retract the Bowden wire (32). The drive module is used to provide torque to actively and simultaneously assist the hip and knee joints. The limiting block (22) is fixedly set on the middle of the Bowden wire (32). The other end of the Bowden wire (32) passes through the limiting seat (21), the thigh wearable device (12), and the other end of the assisting arm (131) in sequence and is connected to the other end of the elastic element (23). The electromyography sensor (33) is used to be installed on the human thigh (100) or the human calf (200). During the forward leg swing, the thigh and lower leg swing accelerates, increasing the angle between the thigh and lower leg, and between the waist and thigh. This causes the Bowden line to gradually move downward and be stretched. Then, when the Bowden line moves the limiting block to abut against the limiting seat, the body begins to decelerate the swing of the thigh and lower leg, allowing the leg to land smoothly. During this process, due to the limiting seat's restraint on the limiting block and Bowden line, the Bowden line will not continue to move downward, causing the elastic element to be stretched. This transforms the energy that overcomes the deceleration of the thigh and lower leg into the elastic force of the elastic element. After the leg lands, the restoring force generated by the elastic element along the Bowden line can simultaneously reduce the angle between the lower leg and the thigh and the lower leg. At this point, there is no need to activate the drive module; the torque is passively and simultaneously provided by the energy recovered and stored in the elastic element during the forward swing. As the elastic force of the elastic element gradually decreases, when the electromyography sensor detects that the electromyography signal exceeds the set value when the thigh is retracted, the controller will control the drive module to drive the motor to actively retract the Bowden cable, thereby simultaneously reducing the angle between the lower leg and the thigh and the lower leg. The torque provided by the single drive module actively and simultaneously assists the hip and knee joints, ultimately enabling standing. 2.The wearable smart exoskeleton auxiliary device according to claim 1, characterized in that, The limiting seat (21) includes a mounting plate (211), a first side plate (212), and a second side plate (213). The mounting plate (211), the first side plate (212), and the second side plate (213) are arranged in a U-shape. The mounting plate (211) is located at the bottom of the waist wear piece (11). The first side plate (212) is located above and spaced from the second side plate (213). The first side plate (212) and the second side plate (213) have through holes for passing through the Bowden line (32). The limiting block (22) is located between the first side plate (212) and the second side plate (213).

3. The wearable smart exoskeleton assistive device according to claim 2, wherein, The wearable assembly (1) also includes a first sleeve (14) for guiding the stretching of the Bowden cable (32), the two ends of which are fixed to the drive module (31) and the first side plate (212).

4. The wearable intelligent exoskeleton assistive device according to claim 1, characterized in that, The Bowden line (32) includes a first segment (321), a last segment (322), and two intermediate segments (323). The two intermediate segments (323) are located between the first segment (321) and the last segment (322), and the first segment (321) and the last segment (322) are respectively connected to the two ends of the two intermediate segments (323). The two intermediate segments (323) pass through both sides of the thigh wearer (12).

5. The wearable smart exoskeleton assistive device according to claim 4, wherein, The wearable assembly (1) further includes two second sleeves (15) for guiding the stretching of the Bowden line (32), the two second sleeves (15) being inserted into the sides of the thigh wearable piece (12) respectively, and each of the middle sections (323) being inserted into the corresponding second sleeve (15).

6. The wearable smart exoskeleton assistive device according to claim 4, wherein, The first segment (321) and the last segment (322) are respectively connected to the two ends of the two intermediate segments (323) via connectors (324).

7. The wearable smart exoskeleton assistive device according to any one of claims 1-6, wherein, The waist wearable part (11) includes a soft wearable part and a hard wearable part connected to each other. The soft wearable part is used to be worn on the waist of a human body. The drive module (31) and the limiting seat (21) are located on the hard wearable part.

8. A wearable intelligent exoskeleton assistive device according to any one of claims 1-6, characterized in that, A pulley is provided at the other end of the assist arm (131), and the Bowden line (32) passes through the pulley.

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