Exoskeleton moving device and lower limb exoskeleton rehabilitation training system

Abstract

The application discloses an exoskeleton moving device and a lower limb exoskeleton rehabilitation training system. The exoskeleton moving device selectively outputs power to a caster part (500) or an exoskeleton foot part (2) through a cable part (4) and a turning control part (5); when the power is output to the caster part (500), the casters (506, 507) can controllably change the distance between the casters and the ground (560) in the vertical direction, thereby providing conditions for realizing in-place turning. The exoskeleton moving device is applied to a specific exoskeleton as a whole, and the exoskeleton moving device is arranged on the left and right lower limbs of the exoskeleton. The main beneficial effect is that the output direction of a single power source can be controllably switched, and the movement and in-place turning of the exoskeleton are realized. The turning action can be controlled by hands through Bowden cables; under the control of the Bowden cables, a pinion enters an engagement area through an arc-shaped sliding rail and relies on a winding force, so that the casters are introduced into the position below the lateral side of a foot plate under the action of the engagement force, thereby achieving the purpose of overall jacking.

Description

Technical Field

[0001] This invention relates to an exoskeleton component and an exoskeleton, specifically an exoskeleton mobility device and a lower limb exoskeleton rehabilitation training system. Background Technology

[0002] Currently, exoskeleton robot products on the market require the user's lumbar strength to rotate the entire exoskeleton robot to achieve steering. This not only results in complex structures and inconvenient operation, but also poses safety hazards. In particular, it is almost impossible for paraplegic patients with no lumbar strength to achieve effective steering. Summary of the Invention

[0003] To address the aforementioned technical problems, this invention provides an exoskeleton mobility device, primarily used for the feet of an exoskeleton.

[0004] The main solution of this invention is as follows:

[0005] The exoskeleton mobility device includes an exoskeleton lower leg (1), an exoskeleton foot (2), and an ankle joint actuator (3). Between the exoskeleton foot (2) and the ankle joint actuator (3), there is also a cable (4) and a turning control (5); wherein, the turning control (5) includes a caster (500) and a power switching (530); the ankle joint actuator (3) can selectively output power to the caster (500) or the exoskeleton foot (2) by mechanical control of the cable (4) through the power switching (530); when power is output to the caster (500), the casters (506, 507) of the caster (500) can be mechanically controlled by the cable (4) to wedge between the exoskeleton foot (2) and the ground (560), thereby forcing the exoskeleton foot (2) to rise, that is, the distance between the casters (506, 507) and the ground (560) can be controllably changed in the vertical direction.

[0006] The wedging in this invention refers to "entrapment force".

[0007] As a preferred embodiment: the power switching unit (530) includes a spline assembly (531) and a shift fork assembly (520); the spline assembly (531) is composed of a spline gear (532), a left spline sleeve assembly (540), and a right spline sleeve assembly (550); wherein the left spline sleeve assembly (540) is fixedly connected to the power output unit of the ankle joint actuator (3); the right spline sleeve assembly (550) is fixedly connected to the exoskeleton foot (2); the shift fork assembly (520) moves the spline gear (532) left and right, so that the right spline shaft (534) is connected to or disconnected from the right spline sleeve assembly (550).

[0008] As a preferred embodiment: the cable section (4) includes a left Bowden cable (41) and a right Bowden cable (47); the shift fork assembly (520) includes a shift fork (525) with a Y-shaped end; wherein, the left pull wire (44) in the left Bowden cable (41) and the right pull wire (46) in the right Bowden cable (47) are both fixedly connected to the shift fork (525), and the shift fork (525) is controlled to swing left and right by their respective pull wire actions, thereby controlling the spline gear (532) to move left and right.

[0009] As a preferred embodiment: the caster part (500) includes a main caster (507) and a secondary caster (506); the cable part (4) includes a caster control Bowden cable (48); and also includes a caster axle connecting plate (504) connecting the main caster (507) and the secondary caster (506); the caster control Bowden cable (48) pulls the cable connection end (505) on the caster axle connecting plate (504) to synchronously pull the casters (506, 507) to move along the slide groove (502, 503).

[0010] As a preferred embodiment, the Bowden lines in the cable section (4) all include preload springs (42) to always tension the tension lines (44, 46, 49) inside the Bowden lines (41, 47, 48).

[0011] As a preferred embodiment: the turning control unit (5) includes a support base (501), the support base (501) has a main caster axle groove (502) and a secondary caster axle groove (503), the two grooves (502, 503) are parallel arcs, the arcs run from top to bottom right so that the caster gear (508) on the main caster (507) can enter the meshing area (509).

[0012] As a preferred embodiment: the ankle joint actuator (3) is a joint module, which includes a combination of a servo motor, a reducer and an actuator.

[0013] As a preferred further embodiment: the reducer is a planetary reducer, an RV reducer, or a harmonic reducer.

[0014] As a preferred embodiment, the minimum distance between the lower leg axis X1 and the caster axis X2 of the main caster (507) does not exceed 10cm.

[0015] As a specific application of the above embodiments, the present invention is applied to a specific exoskeleton system. A lower limb exoskeleton rehabilitation training system includes the aforementioned exoskeleton movement device in both lower limbs.

[0016] The main beneficial effects of this invention are:

[0017] 1. Through a single power source, the output direction of the power source can be switched controllably. It can output power to the footplate to drive the foot movement of the person driving the exoskeleton; or it can switch to output power to the casters to drive the casters to move. The casters of the two lower limbs move independently, thereby realizing the movement and turning of the exoskeleton in place.

[0018] 2. The turning motion can be controlled manually using the Bowden line.

[0019] 3. The ingenious structural design allows the pinion to enter the meshing zone via an arc-shaped slide rail under the control of the Bowden line. This "winding force" then guides the casters to the underside of the foot plate, thereby achieving the purpose of overall lifting. Attached Figure Description

[0020] Figure 1 Overall side view of the invention

[0021] Figure 2 An overall test diagram of the present invention (in perspective, only the gear drive portion is shown).

[0022] Figure 3 Left view of the present invention

[0023] Figure 4 This invention uses a state diagram, and a diagram showing the driving of casters via gear transmission.

[0024] Figure 5 This invention utilizes a state diagram, showing the exoskeleton foot driven via a spline transmission.

[0025] Figure 6A / B / C Partial view of the cable section of this invention

[0026] Figure 7 Partial view of gear meshing in this invention

[0027] Figure 8 Partial diagrams of two states of the caster in this invention (A / B)

[0028] Figure 9 This diagram illustrates the meshing process of the present invention.

[0029] Marked in the diagram:

[0030] 1-Exoskeleton lower leg

[0031] 10-Lower leg connector

[0032] 2-Exoskeleton Foot

[0033] 3-Ankle joint actuator, 31-Actuator housing

[0034] 4-Cable section

[0035] 40-Handwheel, 401-Bowden cable synchronizer, 41-Left Bowden cable, 42-Preload spring, 43-End locking head, 44-Left pull cable, 45-Fixed pulley, 46-Right pull cable, 47-Right Bowden cable, 48-Cassette control Bowden cable, 49-Cassette pull cable

[0036] 5-Turn Control Unit

[0037] 500-Cast Wheel Section

[0038] 501-Support base, 502-Main caster axle groove, 503-Secondary caster axle groove, 504-Caser axle connecting plate, 505-Cable connector end, 506-Secondary caster, 507-Main caster, 508-Caser gear, 509-Meshing area, 520-Shift fork assembly

[0039] 521 - Shift fork cable connection end; 522 - Shift fork rotation shaft; 523 - Shift fork receiving part; 524 - Shift fork front end; 525 - Shift fork

[0040] 530-Power Switching Unit

[0041] 531 - Spline assembly, 532 - Spline gear, 533 - Left spline shaft, 534 - Right spline shaft, 535 - Drive gear

[0042] 540-Left Spline Set Component

[0043] 550-Right Spline Set Assembly

[0044] 551-Side flange bearing, 552-Right spline sleeve, 553-Foot connector

[0045] 560-Ground

[0046] X1 - Lower leg axis

[0047] X2 - Caster Axle Detailed Implementation

[0048] The following are detailed embodiments of the present invention:

[0049] Example 1:

[0050] The exoskeleton mobility device includes an exoskeleton lower leg (1), an exoskeleton foot (2), and an ankle joint actuator (3).

[0051] Between the exoskeleton foot (2) and the ankle joint actuator (3), there is also a cable section (4) and a turning control section (5).

[0052] The cable section (4) described in this invention primarily uses Bowdencable cable to achieve remote force control. Bowdencable cable is a type of brake cable similar to a bicycle brake, consisting of a flexible outer tube and a steel wire core. In the prior art, it is widely used for force transmission and control in flexible exoskeletons.

[0053] The turning control unit (5) includes a caster unit (500) and a power switching unit (530). The ankle joint actuator (3) can selectively output power to the caster unit (500) or the exoskeleton foot (2) through the power switching unit (530) and the cable unit (4). When power is output to the caster unit (500), the casters (506, 507) of the caster unit (500) can be mechanically controlled by the cable unit (4) to wedge between the exoskeleton foot (2) and the ground (560), thereby forcing the exoskeleton foot (2) to rise. That is, the distance between the casters (506, 507) and the ground (560) can be controllably changed in the vertical direction.

[0054] By changing this distance, the feet of the human body are lifted off the ground. This allows the exoskeleton feet (2) to be off the ground, with only the casters (506, 507) touching the ground (560). When power is output to the casters (500), the casters (500) are driven to rotate, thereby enabling the exoskeleton feet (2) to move using the power wheels.

[0055] When both lower limbs of a person are wearing exoskeleton movement devices on their feet, the powered caster sections (500) on both sides are lifted up, making it seem as if the two feet are moving forward on powered pulleys.

[0056] For the lifting, more accurately, the cable section (4) controls the casters (506, 507) to move within a certain range along a predetermined trajectory. When the casters move to a predetermined position, the rotational force of the ankle joint actuator (3) can drive the main caster (507) into the engagement zone (509) through gear meshing.

[0057] Example 2:

[0058] The power switching unit (530) includes a spline assembly (531) and a shift fork assembly (520); the spline assembly (531) consists of a spline gear (532), a left spline sleeve assembly (540), and a right spline sleeve assembly (550); wherein the left spline sleeve assembly (540) is fixedly connected to the power output unit of the ankle joint actuator (3); the right spline sleeve assembly (550) is fixedly connected to the exoskeleton foot (2); the shift fork assembly (520) moves the spline gear (532) left and right, so that the right spline shaft (534) is connected to or disconnected from the right spline sleeve assembly (550).

[0059] In this embodiment, the power switching is described in which the left spline shaft (533) cooperates with the left spline sleeve assembly (540) and can slide along its axial direction in the left spline sleeve assembly (540), so that circumferential driving power can still be transmitted in different axial positions.

[0060] When the shift fork assembly (520) controls the spline gear (532) to move to the right to the end, the right spline shaft (534) connects with the right spline sleeve assembly (550), thereby enabling the ankle joint actuator (3) to transmit power to the right spline sleeve assembly (550), and further, to the exoskeleton foot (2); when it moves to the left to the end, the right spline shaft (534) disengages from the right spline sleeve assembly (550), and at this time the exoskeleton foot (2) cannot obtain the power for movement.

[0061] In a preferred embodiment, the exoskeleton foot (2) of the present invention further includes soft mechanical restraints, such as elastomers, to ensure that a specific posture is maintained in the absence of power. For example, maintaining a posture in which the sole of the foot is parallel to the ground, or a posture in which the heel is slightly lower than the toe height, i.e., the free state tends to slightly raise the toes, which also helps to prevent foot drop. This is used in conjunction with the turning control unit (5) to achieve turning.

[0062] Example 3:

[0063] The cable section (4) includes a left Bowden cable (41) and a right Bowden cable (47); the shift fork assembly (520) includes a shift fork (525) with a Y-shaped end; wherein, the left pull wire (44) in the left Bowden cable (41) and the right pull wire (46) in the right Bowden cable (47) are both fixedly connected to the shift fork (525), and the shift fork (525) is controlled to swing left and right by their respective pull wire actions, thereby controlling the spline gear (532) to move left and right.

[0064] The cable section (4) in this embodiment includes the aforementioned multiple Bowden lines. Further specific implementation details are included in the detailed description of this invention:

[0065] 1. The left Bowden line (41) and the right Bowden line (47) are connected end to end to form a loop, which rotates at the handwheel (40) and the fixed pulley (45) respectively. When the handwheel (40) is turned, the left Bowden line (41) and the right Bowden line (47) will move synchronously. For example, when the left Bowden line (41) is pulled, the right Bowden line (47) follows, thereby realizing the swing of the Y-shaped fork (525).

[0066] Specific embodiments of the present invention may also include an elastic body, a mechanical limiting device, a ratchet structure, etc., that keeps the handwheel (40) in a certain position. For example, by keeping the handwheel (40) in a certain position, the left pull line (44) and the right pull line (46) of the left Bowden line (41) and the right Bowden line (47) are kept in a certain position, thereby keeping the Y-shaped fork (525) in a certain position, for example, always turned to the right, thereby ensuring that the ankle joint actuator (3) transmits power to the right spline sleeve assembly (550), and further, transmits power to the exoskeleton foot (2). This structure is prior art and will not be described in detail in the present invention.

[0067] 2. The handwheel (40) is located roughly within reach of the hands of the person wearing the exoskeleton mobility device. The Bowden line is controlled by the twisting motion of the hand.

[0068] Example 4:

[0069] The caster section (500) includes a main caster (507) and a secondary caster (506); the cable section (4) includes a caster control Bowden cable (48); and also includes a caster axle connecting plate (504) connecting the main caster (507) and the secondary caster (506); the caster control Bowden cable (48) pulls the cable connection end (505) on the caster axle connecting plate (504) to synchronously pull the casters (506, 507) to move along the slide groove (502, 503).

[0070] Since the movements of the left Bouden line (41), right Bouden line (47), and caster control Bouden line (48) are basically synchronized, another embodiment of the present invention is provided in the appendix to the specification. Figure 6C As shown in the diagram. The Bowden line synchronizer (401) forks, for example, the right Bowden line (47) into a connection between the right Bowden line (47) and the caster control Bowden line (48). Thus, by pulling the right Bowden line (47) with the handwheel (40), the forked right Bowden line (47) and the caster control Bowden line (48) can be pulled synchronously, thereby synchronously controlling the Y-shaped shift fork (525) and the caster section (500).

[0071] Example 5:

[0072] The Bowden lines in the cable section (4) all include preload springs (42) to keep the tension lines (44, 46, 49) inside the Bowden lines (41, 47, 48) taut.

[0073] Example 6:

[0074] The turning control unit (5) includes a support base (501), which has a main caster axle groove (502) and a secondary caster axle groove (503). The two grooves (502, 503) are parallel arcs, and the arcs run from top to bottom right so that the caster gear (508) on the main caster (507) can enter the meshing area (509).

[0075] Its movement is as follows Figure 9 As shown: The part not marked in the figure is the elastic part of the caster part (500) that moves downward along the slide (502, 503) in a free state without being stretched by the caster control Bowden line (48). That is, when only subjected to the elastic force F, the caster part (500) always has a tendency to move downward along the slide (502, 503) until the caster control Bowden line (48) is stretched and intervened.

[0076] The “entrapment force” is in the same direction as F, that is: the “entrapment force” is mainly the tendency to be drawn into deeper meshing due to gear meshing, and this tendency is consistent with the tangential direction of the grooves (502, 503) and the drive gear (535).

[0077] P1 is the state when the caster section (500) is pulled to its highest point using the caster control Bowden line (48). P2 is the intermediate state where the caster cable (49) in the caster control Bowden line (48) is released and moves under the action of the elastic force F. P3 is the state where the movement continues and the gears begin to mesh, i.e., entering the meshing zone (509). Ultimately, this will reach... Figure 2 The fully engaged state is shown.

[0078] Example 7: The ankle joint actuator (3) is a joint module, which includes a combination of a servo motor, a reducer and an actuator.

[0079] Example 8: The reducer is a planetary reducer, an RV reducer, or a harmonic reducer.

[0080] Example 9: The minimum distance between the lower leg axis X1 and the main caster (507) caster axis X2 shall not exceed 10cm.

[0081] Example 10:

[0082] As a specific application of the above embodiments, the present invention is applied to a specific exoskeleton system. A lower limb exoskeleton rehabilitation training system includes the aforementioned exoskeleton movement device in both lower limbs.

[0083] As a further application of the foregoing embodiments, or a modification of Embodiment 10, the following situations apply:

[0084] Method 1: When both limbs of the exoskeleton are powered, only the left or right lower limb uses the exoskeleton movement device of this invention. The other lower limb does not use the exoskeleton movement device.

[0085] For example, when turning, the left exoskeleton foot (2) is raised in a controlled manner as described above. Correspondingly, the wearer should use a cane / elbow stick to support the other side of the limb, so that the exoskeleton can maintain basic balance. Alternatively, the program controls the right exoskeleton foot (2) to tiptoe, so that the main wheel (507), the secondary wheel (506), and the toe of the right exoskeleton foot (2) form a basic stable three-point structure. When the main wheel (507) is powered, the whole thing rotates around the toe of the right exoskeleton foot (2) to complete the turn.

[0086] The toe of the right exoskeleton foot (2) may also have, for example, a bullseye bearing or other omnidirectional rolling structure.

[0087] The second method involves the entire exoskeleton, but only one limb. For example, the left lower limb exoskeleton is powered, while the right lower limb exoskeleton is unpowered, or it is an unpowered exoskeleton that can provide the healthy side to drive the affected side. The usage is similar to the first method described above.

[0088] Other technical descriptions of the present invention:

[0089] The ankle joint actuator (3) of the present invention has an actuator housing (31) which serves to fix and protect the ankle joint actuator (3). The ankle joint actuator (3) is fixed on a support base (501).

[0090] The foot connector (553) is located between the exoskeleton foot (2) and the right spline sleeve (552), and the three are fixedly installed together. The exoskeleton foot (2) can rotate smoothly using a side bearing (551).

[0091] The caster gear (508) and the main caster (507) are integrated. The tip circle diameter of the caster gear (508) is smaller than the diameter of the main caster (507), or more precisely, smaller than the diameter of the main caster (507) after compression by the overall weight of the human body and exoskeleton.

[0092] The front end (524) of the shift fork has a rounded protrusion to better actuate the drive gear (535).

[0093] The shift fork receiving part (523) is concave, and the outer edge of the drive gear (535) is received therein.

[0094] The specification and claims use certain terms to refer to specific components. Those skilled in the art will understand that hardware manufacturers may use different names to refer to the same component. This specification and claims do not distinguish components based on differences in name, but rather on differences in function. The term "comprising" throughout the specification and claims is an open-ended term and should be interpreted as "comprising but not limited to." "Approximately" means that within an acceptable margin of error, those skilled in the art can solve the technical problem and substantially achieve the technical effect within a certain margin of error.

[0095] It should be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a product or system comprising a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a product or system. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the product or system that includes said element.

[0096] The foregoing description illustrates and describes several preferred embodiments of the present invention. However, as previously stated, it should be understood that the present invention is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the inventive concept described herein through the foregoing teachings or techniques or knowledge in related fields. Any modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention should be within the protection scope of the appended claims.

Claims

1. An exoskeleton mobility device, comprising an exoskeleton lower leg (1), an exoskeleton foot (2), and an ankle joint actuator (3), characterized in that: Between the exoskeleton foot (2) and the ankle joint actuator (3), there is also a cable section (4) and a turning control section (5). The turning control unit (5) includes a caster unit (500) and a power switching unit (530). The ankle joint actuator (3) can selectively output power to the caster (500) or the exoskeleton foot (2) through the power switching unit (530) and the cable unit (4) under mechanical control; When power is output to the caster section (500), the casters (506, 507) of the caster section (500) can be mechanically controlled by the cable section (4) to wedge between the exoskeleton foot (2) and the ground (560), thereby forcing the exoskeleton foot (2) to rise, and the distance between the casters (506, 507) and the ground (560) can be controllably changed in the vertical direction; The power switching unit (530) includes a spline assembly (531) and a shift fork assembly (520). The spline assembly (531) consists of a spline gear (532), a left spline sleeve assembly (540), and a right spline sleeve assembly (550); The left spline sleeve assembly (540) is fixedly connected to the power output part of the ankle joint actuator (3); The right spline sleeve assembly (550) is fixedly connected to the exoskeleton foot (2); The shift fork assembly (520) moves the spline gear (532) left and right, causing the right spline shaft (534) to connect or disconnect from the right spline sleeve assembly (550); The cable section (4) includes a left Bowden line (41) and a right Bowden line (47). The shift fork assembly (520) includes a shift fork (525) with a Y-shaped end; Among them, the left pull wire (44) in the left Bowden wire (41) and the right pull wire (46) in the right Bowden wire (47) are both fixedly connected to the shift fork (525). Through their respective pull wire actions, the shift fork (525) is controlled to swing left and right, thereby controlling the spline gear (532) to move left and right. The Bowden lines in the cable section (4) all include preload springs (42) to keep the tension lines (44, 46, 49) inside the Bowden lines (41, 47, 48) taut.

2. The exoskeleton mobility device as claimed in claim 1, wherein the caster portion (500) includes a main caster (507) and a secondary caster (506). Its features are: The cable section (4) includes a caster control Bowden line (48); it also includes a caster axle connecting plate (504) connecting the main caster (507) and the auxiliary caster (506); the support base (501) has a main caster axle groove (502) and an auxiliary caster axle groove (503). The caster control Bowden line (48) pulls the cable connection end (505) on the caster axle connecting plate (504) to synchronously pull the main caster (507) along the main caster axle groove (502) and the auxiliary caster (506) along the auxiliary caster axle groove (503).

3. The exoskeleton mobility device as described in claim 1, characterized in that: The turning control unit (5) includes a support base (501), which has a main caster axle groove (502) and a secondary caster axle groove (503). The main caster axle groove (502) and the secondary caster axle groove (503) are parallel arcs. The arcs run from top to bottom right so that the caster gear (508) on the main caster (507) can enter the meshing area (509).

4. The exoskeleton mobility device as described in claim 3, characterized in that: The ankle joint actuator (3) is a joint module, which includes a combination of a servo motor, a reducer and an actuator.

5. The exoskeleton mobility device as described in claim 4, characterized in that: The speed reducer is a planetary speed reducer, an RV speed reducer, or a harmonic speed reducer.

6. The exoskeleton mobility device as described in claim 5, characterized in that: The minimum distance between the lower leg axis X1 and the main caster (507) wheel axis X2 shall not exceed 10cm.

7. A lower limb exoskeleton rehabilitation training system, characterized in that: The left and right lower limbs include the exoskeleton mobility device as described in claim 1 or 6.

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