Knee exoskeleton rehabilitation system for lying people

Abstract

The application discloses a knee exoskeleton rehabilitation system for lying people. The knee exoskeleton rehabilitation system for lying people comprises a biomechanics framework, a non-elastic shoulder strap, a lower leg wrap assembly and a foot assembly; a rope driving system is connected with the non-elastic shoulder strap and the foot assembly respectively; wherein the rope driving system is used to provide a first direction force for the shoulder of the lying human body through the non-elastic shoulder strap and a second direction force for the lying human body through the foot assembly at the same time or at different times, the first direction force and the second direction force are opposite to each other, and the simulation gravity provides axial mechanical stimulation for the lying human body; the rope driving system is used to provide an auxiliary torque / anti-resistance torque acting on the knee joint for the lying human body through the lower leg wrap assembly.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of knee joint rehabilitation, in particular to a knee joint exoskeleton rehabilitation system for lying people. BACKGROUND

[0002] At present, knee joint exoskeletons that simulate knee joint flexion / extension movement for assisting walking or resistance training are commonly seen on the market. Such exoskeletons usually have a single active degree of freedom torque output.

[0003] However, for special rehabilitation groups such as long-term bedridden patients, postoperative rehabilitation patients, astronauts, etc., it is necessary to provide mechanical stimulation to the human body / long bone axis of the lower limb to restore or maintain the muscle strength level of the anti-gravity muscle group and resist bone loss. The current powered exoskeleton device cannot achieve such functions without gravity, and the existing astronaut anti-gravity suit does not have the ability to intelligently sense and control force / torque output.

[0004] Therefore, it is desirable to have a technical solution to overcome or at least alleviate at least one of the above-mentioned deficiencies of the prior art.

[0005] SUMMARY

[0006] The present application aims to provide a knee joint exoskeleton rehabilitation system for lying people to overcome or at least alleviate at least one of the above-mentioned deficiencies of the prior art.

[0007] To achieve the above-mentioned purpose, the present application provides a knee joint exoskeleton rehabilitation system for lying people, which comprises:

[0008] A biomechanical framework comprising a non-elastic shoulder strap, a calf wrap assembly and a foot assembly;

[0009] A rope drive system connected with the non-elastic shoulder strap and the foot assembly, respectively; wherein,

[0010] The non-elastic shoulder strap is arranged on the shoulder of a lying human body;

[0011] The foot assembly is arranged on the foot of the lying human body;

[0012] The calf wrap assembly is arranged on the calf of the lying human body;

[0013] The rope drive system is used to provide the following functions:

[0014] The rope driving system is configured to provide a first direction force to the shoulder of the lying human body through the non-elastic shoulder belt, and the rope driving system is configured to provide a second direction force to the lying human body through the foot assembly, the first direction force and the second direction force are opposite to each other.

[0015] The rope driving system is configured to provide an auxiliary torque or an anti-torque to the knee joint of the lying human body through the lower leg wrap assembly.

[0016] Optionally, the biomechanical framework further comprises a waist assembly and a thigh assembly; wherein,

[0017] The non-elastic shoulder belt is connected with the thigh assembly;

[0018] The thigh assembly is connected with the rope driving system;

[0019] One end of the lower leg wrap assembly is connected with the foot assembly, and the other end of the lower leg wrap assembly is connected with the rope driving system.

[0020] Optionally, the waist assembly comprises a non-elastic waist belt, a waist buckle, a front four-way slide buckle and a rear four-way slide buckle; wherein,

[0021] The non-elastic shoulder belt is connected with the thigh assembly after passing through the front four-way slide buckle and the rear four-way slide buckle;

[0022] The non-elastic waist belt fixes the biomechanical framework on the user through the waist buckle.

[0023] Optionally, the thigh assembly comprises a front thigh frame, a thigh strap and a rear thigh frame; wherein,

[0024] One end of the non-elastic shoulder belt is connected with the front thigh frame, and the other end of the non-elastic shoulder belt is connected with the rear thigh frame;

[0025] One end of the thigh strap is configured to be connected with the front thigh frame, and the other end of the thigh strap is configured to be connected with the rear thigh frame;

[0026] The front thigh frame and the rear thigh frame are respectively connected with the rope driving system.

[0027] Optionally, the rope driving system comprises a driving motor assembly and a rope driving actuator, the front thigh frame, the rear thigh frame and the lower leg wrap assembly are respectively connected with the rope driving actuator, and the driving motor is connected with the rope driving actuator; wherein,

[0028] The driving motor is configured to drive the rope driving actuator to work, so as to drive one or more of the non-elastic shoulder belt, the foot assembly and the lower leg wrap assembly to move.

[0029] Optionally, the rope-driven actuator comprises a first pulley bearing assembly, an upper pulley frame, a lower pulley inner frame, a lower pulley outer frame, a second pulley bearing assembly, a Bowden tube one, a Bowden tube two, a wire rope one, a wire rope two;

[0030] The Bowden tube one is connected with the upper pulley frame;

[0031] The Bowden tube two is connected with the upper pulley frame;

[0032] One side of the first pulley bearing assembly is connected with the lower pulley inner frame, and the other side of the first pulley bearing assembly is connected with the lower pulley outer frame;

[0033] The side of the lower pulley outer frame away from the first pulley bearing assembly is connected with the upper pulley frame;

[0034] The side of the lower pulley inner frame away from the first pulley bearing assembly is connected with the upper pulley frame;

[0035] The upper pulley frame is connected with the front thigh frame and the rear thigh frame respectively;

[0036] One side of the second pulley bearing assembly is connected with the lower pulley inner frame;

[0037] The other side of the second pulley bearing assembly is connected with the lower pulley outer frame;

[0038] The calf wrap assembly is connected with the lower pulley inner frame and the lower pulley outer frame respectively;

[0039] The wire rope one is connected with the second pulley bearing assembly after passing through the Bowden tube one and the first pulley bearing assembly;

[0040] The wire rope two is connected with the second pulley bearing assembly after passing through the Bowden tube two and the first pulley bearing assembly;

[0041] The second pulley bearing assembly is connected with the calf wrap assembly;

[0042] The drive motor assembly is connected with the wire rope one and the wire rope two respectively, and the drive motor assembly drives one or more of the no-elastic shoulder belt, the foot assembly and the calf wrap assembly to move by providing driving force for the wire rope one and / or the wire rope two.

[0043] Optionally, the first pulley bearing assembly comprises a fixed pulley one, a fixed pulley two, a fixed pulley one bearing, a fixed pulley two bearing, and a fixed pulley shaft; wherein,

[0044] The inner hole of the fixed pulley one is embedded into the fixed pulley one bearing;

[0045] The inner hole of the fixed pulley two is embedded into the fixed pulley two bearing;

[0046] The inner ring of the fixed pulley one bearing is nested and fixed to the fixed pulley shaft;

[0047] The inner ring of the fixed pulley two bearing is nested and fixed to the fixed pulley shaft;

[0048] One end of the fixed pulley is connected to the inner frame of the lower pulley, and the other end is connected to the outer frame of the lower pulley.

[0049] Optionally, the second pulley bearing assembly includes a movable pulley one, an angle pulley, a movable pulley two, a movable pulley one bearing, an angle pulley bearing, a movable pulley two bearing, and a movable pulley shaft; wherein,

[0050] The movable pulley one bearing, the angle pulley bearing, and the movable pulley two bearing are all arranged on the movable pulley shaft;

[0051] The movable pulley one is installed on the movable pulley one bearing;

[0052] The angle pulley is installed on the angle pulley bearing;

[0053] The movable pulley two is installed on the movable pulley two bearing;

[0054] The slider one is installed on the slide rail one;

[0055] One side of the shaft-slug fixing one is fixed with the slider one;

[0056] The other side of the shaft-slug fixing one is fixed with one end of the movable pulley shaft;

[0057] The other end of the movable pulley shaft is connected to the shaft-slug fixing two;

[0058] The other side of the shaft-slug fixing two is connected to the slider;

[0059] The slider two is installed on the slide rail two;

[0060] The slide rail one is fixed inside the inner frame of the lower pulley;

[0061] The slide rail two is fixed inside the inner frame of the lower pulley;

[0062] Optionally, two threaded holes are arranged on the upper pulley frame, one threaded hole is used to accommodate the middle passing screw one, and the other threaded hole is used to accommodate the middle passing screw two;

[0063] The Bowden cable sleeve one is clamped into the middle passing screw one;

[0064] The Bowden cable sleeve two is clamped into the middle passing screw two;

[0065] The steel wire rope, after passing through the first Bowden tube and the first pulley bearing assembly, is connected to the second pulley bearing assembly, comprising:

[0066] The steel wire rope one passes through or around the first Bowden tube, the middle screw one, the front side of the movable pulley one, the rear side of the fixed pulley one, the front side of the fixed pulley one, the rear side of the angle pulley, and is fixed to the rear side of the angle pulley through the M6 nut two.

[0067] The steel wire rope two passes through or around the second Bowden tube, the middle screw two, the rear side of the movable pulley two, the front side of the fixed pulley two, the rear side of the fixed pulley two, the front side of the angle pulley, and is fixed to the front side of the angle pulley through the M6 nut two.

[0068] Optionally, the driving motor assembly comprises a guide middle screw, a tension and pressure sensor one, a motor fixing frame, an encoder fixing frame, an encoder one, an encoder two, a tension and pressure sensor two, a motor driver one, a motor two, a motor one, a motor driver two, a winding shaft one, and a winding shaft two; wherein,

[0069] The steel wire rope one is fixed to the motor one through the winding shaft one;

[0070] The motor one is fixed to the motor fixing frame;

[0071] The encoder one is connected to the winding shaft one and is fixed to the encoder fixing frame;

[0072] After the steel wire rope one is connected to the tension and pressure sensor one, it passes through the guide middle screw fixed to the side of the motor fixing frame, and passes through the first Bowden tube;

[0073] The steel wire rope two is fixed to the motor two through the winding shaft two;

[0074] The motor two is fixed to the motor fixing frame;

[0075] The encoder two is connected to the winding shaft two and is fixed to the encoder fixing frame;

[0076] After the steel wire rope two is connected to the tension and pressure sensor two, it passes through the guide middle screw fixed to the side of the motor fixing frame, and passes through the first Bowden tube.

[0077] The knee joint exoskeleton rehabilitation system for lying people in the present application can simulate the rotational freedom motion of knee joint flexion / extension and the ground reaction force received by the femoral shaft, and provide controllable force / torque in two degrees of freedom directions, which can transmit axial mechanical stimulation to the human body without relying on gravity, thereby expanding the functionality of existing exoskeletons and providing rehabilitation treatment or training programs for special rehabilitation groups that need axial mechanical stimulation. BRIEF DESCRIPTION OF DRAWINGS

[0078] Figure 1 is a system use schematic diagram of a knee exoskeleton rehabilitation system for lying people according to an embodiment of the present application.

[0079] Figure 2 is a perspective view of the overall structure of a knee exoskeleton rehabilitation system for lying people. Figure 1

[0080] Figure 3 is another perspective view of the overall structure of a knee exoskeleton rehabilitation system for lying people. Figure 1

[0081] Figure 4 is a perspective view of the rope-driven actuator structure of a knee exoskeleton rehabilitation system for lying people. Figure 1

[0082] Figure 5 is a top view of the rope-driven actuator structure of a knee exoskeleton rehabilitation system for lying people. Figure 1

[0083] Figure 6 is a top view of the rope-driven actuator structure of a knee exoskeleton rehabilitation system for lying people. Figure 1

[0084] Figure 7 is a front view of the drive motor assembly structure of a knee exoskeleton rehabilitation system for lying people. Figure 1

[0085] Figure 8 is a top view of the drive motor assembly structure of a knee exoskeleton rehabilitation system for lying people. Figure 1

[0086] Figure 9 is a schematic diagram of the connection relationship between the drive motor assembly and the rope-driven actuator of a knee exoskeleton rehabilitation system for lying people. Figure 1

[0087] Figure 10 is an actuator force / torque analysis schematic diagram. (a) (b) are equivalent force schematic diagrams of a single-sided fixed pulley and a movable pulley; (c) is an actuator force analysis schematic diagram; (d) is an actuator torque analysis schematic diagram.

[0088] Figure 11 is an exoskeleton biomechanics framework anchor force analysis diagram of a knee exoskeleton rehabilitation system for lying people of the present application.

[0089] Figure 12 ​​​​​​​​is a schematic diagram of knee joint assisted / anti-torque human-machine interaction, (the dashed arrow represents the user's motion intention, and the solid arrow represents the assistance / anti-torque provided by the exoskeleton). (a) is a schematic diagram of the exoskeleton providing knee joint anti-torque; (b) is a schematic diagram of the exoskeleton providing knee joint assistance torque.

[0090] Reference signs

[0091]

[0092] DETAILED DESCRIPTION

[0093] For the purpose of making the purpose, technical scheme and advantages of the present application clearer, the technical scheme of the present application will be described in more detail below in combination with the drawings of the embodiments of the present application. In the drawings, the same or similar reference signs represent the same or similar elements or elements having the same or similar functions throughout. The described embodiments are part of the embodiments of the present application, not all of the embodiments. The embodiments described below by reference to the drawings are exemplary and are intended to explain the present application, and cannot be understood as limiting the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application. The embodiments of the present application will be described in detail below in combination with the drawings.

[0094] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the scope of protection of the present application.

[0095] As Figures 1 to 11 The knee exoskeleton rehabilitation system for lying people includes a biomechanical frame and a rope driving system, wherein,

[0096] The biomechanical frame includes a non-elastic shoulder strap 2, a calf wrap assembly and a foot assembly;

[0097] The rope driving system is connected with the non-elastic shoulder strap and the foot assembly, respectively; wherein,

[0098] The non-elastic shoulder strap 2 is arranged at the shoulder of the lying human body;

[0099] The foot assembly is arranged at the foot of the lying human body;

[0100] A lower leg wrap assembly is provided for the lower leg of the lying human body;

[0101] The rope drive system is configured to provide a first direction force to the shoulder of the lying human body through the inelastic shoulder strap and a second direction force to the lying human body through the foot assembly, the first direction force and the second direction force being opposite to each other, for providing axial mechanical stimulation to the lying human body, the axial stimulation being configured to simulate the force of gravity on the human body in the vertical state;

[0102] The rope drive system is configured to provide a first direction force to the shoulder of the lying human body through the inelastic shoulder strap and a second direction force to the lying human body through the foot assembly, the first direction force and the second direction force being opposite to each other, for providing axial mechanical stimulation to the lying human body, the axial stimulation being configured to simulate the force of gravity on the human body in the vertical state;

[0103] The rope drive system is configured to provide a first direction force to the shoulder of the lying human body through the inelastic shoulder strap and a second direction force to the lying human body through the foot assembly, the first direction force and the second direction force being opposite to each other, for providing axial mechanical stimulation to the lying human body, the axial stimulation being configured to simulate the force of gravity on the human body in the vertical state; Figure 12 The rope drive system is configured to provide a first direction force to the shoulder of the lying human body through the inelastic shoulder strap and a second direction force to the lying human body through the foot assembly, the first direction force and the second direction force being opposite to each other, for providing axial mechanical stimulation to the lying human body, the axial stimulation being configured to simulate the force of gravity on the human body in the vertical state;

[0104] In the embodiment, the biomechanical framework further comprises a waist assembly and a thigh assembly; wherein,

[0105] The inelastic shoulder strap 2 is connected to the thigh assembly;

[0106] The thigh assembly is connected to the rope drive system;

[0107] One end of the lower leg wrap assembly is connected to the foot assembly, and the other end of the lower leg wrap assembly is connected to the rope drive system.

[0108] In the embodiment, the waist assembly comprises an inelastic waist strap 11, a waist buckle 9, a front four-way slide buckle 1 and a rear four-way slide buckle 12; wherein,

[0109] The inelastic shoulder strap 2 is connected to the thigh assembly after passing through the front four-way slide buckle 1 and the rear four-way slide buckle 12;

[0110] The inelastic waist strap 2 is fixed to the user by the waist buckle 9.

[0111] In the embodiment, the thigh assembly comprises a front thigh frame 3, a thigh strap 8 and a rear thigh frame 13; wherein,

[0112] One end of the inelastic shoulder strap 2 is connected to the front thigh frame 3, and the other end of the inelastic shoulder strap 2 is connected to the rear thigh frame 13;

[0113] One end of the thigh strap 8 is configured to be connected to the front thigh frame 3, and the other end of the thigh strap 8 is configured to be connected to the rear thigh frame 13;

[0114] The front thigh frame 3 and the rear thigh frame 13 are respectively connected with the rope driving system.

[0115] In the embodiment, the rope driving system comprises a driving motor assembly and a rope driving actuator, the front thigh frame 3, the rear thigh frame 13 and the lower leg wrap assembly are respectively connected with the rope driving actuator, and the driving motor is connected with the rope driving actuator; wherein,

[0116] The driving motor assembly is used to drive the rope driving actuator to work, so as to drive one or more of the no-elastic shoulder belt, the foot assembly and the lower leg wrap assembly to move.

[0117] In the embodiment, the rope driving actuator comprises a first pulley bearing assembly, an upper pulley frame 18, a lower pulley inner frame 19, a lower pulley outer frame 20, a second pulley bearing assembly, a Bowden tube 1 14, a Bowden tube 215, a steel wire rope 126, a steel wire rope 236;

[0118] The Bowden tube 1 14 is connected with the upper pulley frame 18;

[0119] The Bowden tube 215 is connected with the upper pulley frame 18;

[0120] One side of the first pulley bearing assembly is connected with the lower pulley inner frame 19, and the other side of the first pulley bearing assembly is connected with the lower pulley outer frame 20;

[0121] The side of the lower pulley outer frame 20 away from the first pulley bearing assembly is connected with the upper pulley frame 18;

[0122] The side of the lower pulley inner frame 19 away from the first pulley bearing assembly is connected with the upper pulley frame 18;

[0123] The upper pulley frame is respectively connected with the front thigh frame 3 and the rear thigh frame 13;

[0124] One side of the second pulley bearing assembly is connected with the lower pulley inner frame 19;

[0125] The other side of the second pulley bearing assembly is connected with the lower pulley outer frame 20;

[0126] The lower leg wrap assembly is respectively connected with the lower pulley inner frame 19 and the lower pulley outer frame 20;

[0127] The steel wire rope 126 passes through the Bowden tube 1 14 and the first pulley bearing assembly and is connected with the second pulley bearing assembly;

[0128] The steel wire rope two 36 passes through the Bowden sleeve two 15, the first pulley bearing assembly, and is connected with the second pulley bearing assembly;

[0129] The second pulley bearing assembly is connected with the lower leg wrap assembly;

[0130] The driving motor assembly is connected with the steel wire rope one and the steel wire rope two respectively, and the driving motor assembly drives one or more of the non-elastic shoulder strap, the foot assembly, and the lower leg wrap assembly to move by providing driving force for the steel wire rope one and / or the steel wire rope two.

[0131] In the embodiment, the first pulley bearing assembly includes a fixed pulley one 27, a fixed pulley two 35, a fixed pulley one bearing 37, a fixed pulley two bearing 39, and a fixed pulley shaft 42; wherein,

[0132] The inner hole of the fixed pulley one 27 is embedded in the fixed pulley one bearing 37;

[0133] The inner hole of the fixed pulley two 35 is embedded in the fixed pulley two bearing 39;

[0134] The inner ring of the fixed pulley one bearing 37 is nested and fixed to the fixed pulley shaft 42;

[0135] The inner ring of the fixed pulley two bearing 39 is nested and fixed to the fixed pulley shaft 42;

[0136] The slider one 30 is installed on the slide rail one 28;

[0137] One side of the shaft-slider fixing piece one 29 is fixed with the slider one 30;

[0138] The other side of the shaft-slider fixing piece one 29 is fixed with one end of the movable pulley shaft 40;

[0139] The other end of the movable pulley shaft 40 is connected with the shaft-slider fixing piece two 33;

[0140] The other side of the shaft-slider fixing piece two 33 is connected with the slider two 32;

[0141] The slider two 32 is installed on the slide rail two 34;

[0142] The slide rail one 28 is fixed to the inner side of the lower pulley inner frame 19;

[0143] The slide rail two 34 is fixed to the inner side of the lower pulley outer frame 20.

[0144] In the embodiment, the second pulley bearing assembly comprises a movable pulley one 22, an angle pulley 31, a movable pulley two 23, a movable pulley one bearing 39, an angle pulley bearing 38, a movable pulley two bearing 41, a movable pulley shaft 40, a slide rail one 28, a slide block one 30, a shaft-slide block fixing one 29, a movable pulley shaft 40, a shaft-slide block fixing two 33, a slide block two 32, a slide rail two 34; wherein,

[0145] The movable pulley one bearing 39, the angle pulley bearing 38, and the movable pulley two bearing 41 are all arranged on the movable pulley shaft;

[0146] The movable pulley one 22 is installed on the movable pulley one bearing 39;

[0147] The angle pulley 31 is installed on the angle pulley bearing 38;

[0148] The movable pulley two 23 is installed on the movable pulley two bearing 41;

[0149] One end of the movable pulley shaft 40 is connected with the lower pulley inner frame 19, and the other end is connected with the lower pulley outer frame 20;

[0150] The above components are connected in the order of the slide rail one 28, the slide block one 30, the shaft-slide block fixing one 29, the movable pulley shaft 40, the shaft-slide block fixing two 33, the slide block two 32, and the slide rail two 34, and the slide block two 32 and the slide rail two 34 on both sides are fixed to the lower pulley inner frame 19 and the lower pulley outer frame 20 respectively.

[0151] In the embodiment, two threaded holes are arranged on the upper pulley frame, one threaded hole is used for accommodating the middle passing screw one 16, and the other threaded hole is used for accommodating the middle passing screw two 25;

[0152] The Bowden cable sleeve one 14 is clamped into the middle passing screw one 16;

[0153] The Bowden cable sleeve two 15 is clamped into the middle passing screw two 25;

[0154] The steel wire rope one 26 passes through the Bowden cable sleeve one 14, the first pulley bearing assembly, and is connected with the second pulley bearing assembly, comprising:

[0155] The steel wire rope one 26 passes through or bypasses the Bowden cable sleeve one 14, the middle passing screw one 16, the front side of the movable pulley one 22, the rear side of the fixed pulley one 27, the front side of the fixed pulley one 27, the rear side of the angle pulley 31, and is fixed to the rear side of the angle pulley through the nut two 24;

[0156] The steel wire rope two 36 passes through the Bowden cable sleeve two 15, the first pulley bearing assembly, and is connected with the second pulley bearing assembly, comprising:

[0157] Steel wire rope two 36 passes through or around the Bowden sleeve two 15, the middle screw two 25, the rear side of the movable pulley two 24, the front side of the fixed pulley two 35, the rear side of the fixed pulley two 35, the front side of the angle pulley 31, and is fixed to the front side of the angle pulley 31 through the nut two 24.

[0158] In the embodiment, the driving motor assembly comprises a guide middle screw 44, a tension and pressure sensor one 45, a motor fixing frame 46, an encoder fixing frame 47, an encoder one 48, an encoder two 49, a tension and pressure sensor two 50, a motor driver one 51, a motor two 52, a motor one 53, a motor driver two 54, a winding shaft one 55, and a winding shaft two 56.

[0159] The steel wire rope one 26 is fixed to the motor one 53 through the winding shaft one 55.

[0160] The motor one 53 is fixed to the motor fixing frame 46.

[0161] The encoder one 48 is connected to the winding shaft one 55 and is fixed to the encoder fixing frame 47.

[0162] After the steel wire rope one 26 is connected in series with the tension and pressure sensor one 45, it passes through the guide middle screw 44 fixed to the side of the motor fixing frame 46 and passes through the Bowden sleeve one 14.

[0163] The steel wire rope two 36 is relatively fixed to the motor two 52 through the winding shaft two 56.

[0164] The motor two 52 is fixed to the motor fixing frame 46.

[0165] The encoder two 49 is connected to the winding shaft two 56 and is fixed to the encoder fixing frame 47.

[0166] After the steel wire rope two 36 is connected in series with the tension and pressure sensor two 50, it passes through the guide middle screw 44 fixed to the side of the motor fixing frame 46 and passes through the Bowden sleeve one 14.

[0167] The following will be described in detail with reference to the accompanying drawings. Figure 1 to the accompanying drawings. Figure 11 Further detailed description of the present application can be understood that the example does not constitute any limitation on the present application.

[0168] Referring to Figures 1 to 9 The present application mainly drives the power to the rope driving actuator through the motor one 53 and the motor two 52 in the rope driving system through the steel wire rope one 26 and the steel wire rope two 36, the two rope cables in the actuator are respectively wound around the movable pulley one 27 / movable pulley two 23, fixed pulley one 27 / fixed pulley two 35, and are fixed to the angle pulley 31 through two groups of M4 screws 21, two degrees of freedom forces / torques are generated on both sides, and then the axial mechanical stimulation / knee joint torque is transmitted to the human body through the anchor point structure of the biomechanical frame part.

[0169] See Figure 2 , Figure 3 In this embodiment, the biomechanical frame specifically consists of a front four-way sliding buckle 1, a non-elastic shoulder strap 2, a front thigh frame 3, a calf frame 4, a foot strap 5, an ankle frame 6, a calf strap 7, a thigh strap 8, a waist buckle 9, a three-way sliding buckle 10, a non-elastic waist belt 11, a rear four-way sliding buckle 12, and a rear thigh frame 13. The non-elastic waist belt 11 secures the entire biomechanical frame to the user's body via the waist buckle 9, preventing misalignment. The non-elastic shoulder strap 2 passes through the front four-way sliding buckle 1 and the rear four-way sliding buckle 12, and is respectively fixed to the front thigh frame 3 and the rear thigh frame 13. The rear thigh frame 13, the front thigh frame 3, and the upper pulley frame 18 of the actuator are sequentially connected and fixed to each other from the inside out in the direction of the user's thigh. The thigh strap 8 is connected to the two thigh frames 13, and its size is adjusted to fix it relative to the user's thigh. In addition, the upper pulley frame 18 is connected to the lower pulley inner frame 19, the lower pulley inner frame 19 is connected to the calf frame 4, and the calf strap 7 is connected to the calf frame 4 to fix it relatively to the user's calf. The ankle frame 6 is connected to the calf frame 4 and is connected to the foot strap 5 to fix it relatively to the user's ankle joint, thereby restricting the ankle joint's degree of freedom. Axial loads will be transmitted to the user through the ankle frame 6.

[0170] See Figures 4 to 6 The inner holes of fixed pulley 1 27 and fixed pulley 2 35 are respectively embedded with fixed pulley 1 bearing 37 and fixed pulley 2 bearing 43. The inner rings of the two bearings are nested and fixed to the fixed pulley shaft 42. The new component composed of the above parts is fixed to the lower pulley inner frame 19, lower pulley outer frame 20 and upper pulley frame 18 in the order from the inside to the outside through the fixed pulley shaft 42.

[0171] The movable pulley 22, the angle pulley 31, the movable pulley 23, and the angle pulley 31 are embedded in the corresponding bearing assemblies 39 for movable pulley 1, 38 for angle pulley, and 41 for movable pulley 2 in the same manner and are assembled onto the movable pulley shaft 40.

[0172] Connect the above components in the following order: slide rail 28, slider 30, shaft-slider fixing part 29, movable pulley shaft 40, shaft-slider fixing part 23, slider 2 32, and slide rail 2 34. Then fix slider 2 32 and slide rail 2 34 on both sides to the inner side of the lower pulley inner frame 19 and the lower pulley outer frame 20, respectively.

[0173] Using a small wrench, screw through screw 16 and through screw 25 into the two M6 threaded holes on the top of the upper pulley frame 18, and secure them with two M6 nuts 17. Borden cable sleeve 14 and Borden cable sleeve 25 are then inserted into through screw 16 and through screw 25, respectively.

[0174] Steel wire rope one 26 and steel wire rope two 36 are respectively passed through or around the Bowden tube one 14 / Bowden tube two, the middle screw one 16 / middle screw two 25, the movable pulley one 22 front side / movable pulley two 23 rear side, the fixed pulley one 27 rear side / fixed pulley two 35 front side, the fixed pulley one 27 front side / fixed pulley two 35 rear side, the angle pulley 31 rear side / angle pulley 31 front side in sequence by the rope driving system part, and are fixed to the angle pulley 31 rear side and front side by two groups of four M6 nuts two 24 respectively.

[0175] The angle pulley 31 has two degrees of freedom as an actuating part, which are bidirectional rotation freedom around the movable pulley shaft 40 with a range of [-120, 120]° and longitudinal translation freedom relative to the slide rail one 28 and rail two 34 with a range of [0, 80]mm. The force / torque output of the mechanism is also two degrees of freedom, the torque output direction of the rotation freedom is bidirectional, and the force output of the translation freedom is unidirectional tension.

[0176] Referring to Figure 7 and Figure 8 , the steel wire rope one 26 and the steel wire rope two 36 are respectively fixed to the motor one 53 and the motor two 52 by the winding shaft one 55 and the winding shaft two 56. Among them, the motor one 53 and the motor two 52 are fixed to the motor fixing frame 46, the encoder one 48 and the encoder two 49 are connected to the other side of the winding shaft one 55 and the winding shaft two 56, and are fixed to the encoder fixing frame 47. After the steel wire rope one 26 and the steel wire rope two 36 are connected in series with the tension and pressure sensor one 45 and the tension and pressure sensor two 50, they pass through the two guide middle screws 44 fixed to the side of the motor fixing frame 46, pass through the Bowden tube one 14 and the Bowden tube two 15, and are connected to the rope driving actuator. In the system, the two series-connected sensors are used to directly measure the tension of the two steel wires, to estimate the interaction force / torque on the actuator through the model and to output the force / torque control, and the encoders are used for the control and perception estimation of the kinematics of the actuator.

[0177] In this embodiment, the power of the motor one 53 / motor two 52 is transmitted by the steel wire rope one 26 / steel wire rope two 36 respectively, and finally acts on the angle pulley 31 to generate force / torque. The two motors always maintain opposite torque output directions, which is a kind of antagonistic driving form. The actuator can generate two kinds of force output forms, which are torque and longitudinal tension respectively.

[0178] Referring to Figure 11In this embodiment, the inelastic shoulder strap 2 and the ankle frame 6 in the biomechanics framework respectively act on the anchor points of the user's shoulder and foot bottom, and through the tension of the longitudinal degree of freedom of the actuator, axial mechanical stimulation is provided to the user's shoulder and foot bottom. In addition, in order to maintain the force balance of the man-machine coupling system, the exoskeleton suit is worn on both legs of the human body, and the axial mechanical stimulation of the user in the upright state is better simulated.

[0179] Referring to Figure 12 (a), Figure 12 (a) is a schematic diagram of the exoskeleton providing knee joint resistance torque.

[0180] Referring to Figure 12 (b), Figure 12 (b) is a schematic diagram of the exoskeleton providing knee joint auxiliary torque.

[0181] In this embodiment, the motor one 53 and the motor two 52 in the rope driving system drive the power to the rope driving actuator through the steel wire rope one 26 and the steel wire rope two 36. The ends of the two ropes in the actuator are respectively wound around the movable pulley one 27 / movable pulley two 23, fixed pulley one 27 / fixed pulley two 35 and fixed to the angle pulley 31 by two groups of M4 screws 21, and two degrees of freedom forces / torques are generated on both sides. When the motor one and the motor two apply the same force, the first direction force and the second direction force are generated, and the two forces are opposite to each other.

[0182] Referring to Figure 12 When the motor one and the motor two apply different forces, the first direction force and the second direction force can generate the auxiliary torque or the resistance torque acting on the knee joint.

[0183] Referring to Figure 10 In this embodiment, the winding mode of the rope cable at the end of the actuator is that the steel wire rope one 26 and the steel wire rope two 36 are respectively sequentially threaded or wound through the Bowden wire sleeve one 14 / Bowden wire sleeve two, middle through screw one 16 / middle through screw two 25, movable pulley one 22 front side / movable pulley two 23 rear side, fixed pulley one 27 rear side / fixed pulley two 35 front side, fixed pulley one 27 front side / fixed pulley two 35 rear side, angle pulley 31 rear side / angle pulley 31 front side, and are fixed to the rear side and the front side of the angle pulley 31 by two groups of four M6 nut two 24 respectively. The above winding mode makes the actuator form two coupled movable pulley mechanisms. The output torque of the motor one 53 and the motor two 52 is converted into the tension of the steel wire rope one 26 and the steel wire rope two 36 (or the tension of the rope cable), which is respectively represented as F in1 and F in2 . The movable pulley mechanism has the characteristics of tension amplification. Under ideal conditions, the tension amplification tension of the coupled actuator mechanism is represented as F axial , and the condition for the expression to be established is F in1=F in2 Such structure design makes the actuator generate 1000N peak longitudinal tension, and then acts on the user through the biomechanical frame, which can reproduce the gravity of a 100kg user in an upright state. axial =F in1 +F in2 .

[0184] Referring to Figure 10 In this embodiment, the control of the moment applies the antagonistic drive principle, and the output moments of motor one 53 and motor two 52 are converted into the tension of steel wire rope one 26 and steel wire rope two 36 (or cable tension), respectively represented as F in1 and F in2 . in1 and F in2 After transmission, they finally act on angle pulley 31, the angle pulley radius is r, the resultant force generated by antagonistic drive is F torque , and the finally output coupled moment T knee . The output moment acts on the human calf through the calf frame 4 in the biomechanical frame. Based on the above principle, the peak torque that the knee exoskeleton can generate is 35NM (the torque required during walking at a speed of 1.2m / s for a person weighing 80kg is about 30NM).

[0185] T knee =F torque ·r;

[0186] F torque =|F in1 -F in2 |;

[0187] Angle pulley 31, as an actuating part, has two degrees of freedom, which are bidirectional rotation active freedom around pulley shaft 40, ranging from [-120, 120]°, and longitudinal translation active freedom relative to slide rail one 28 and rail two 34, ranging from [0, 80]mm.

[0188] The present application has the following advantages:

[0189] 1. The cable winding method at the actuator end is as follows: Wire rope 26 and wire rope 36 are sequentially passed through or around Bowden cable sleeve 14 / Bowden cable sleeve 2, through screw 16 / through screw 25, the front side of movable pulley 22 / the rear side of movable pulley 23, the rear side of fixed pulley 27 / the front side of fixed pulley 25, the front side of fixed pulley 27 / the rear side of fixed pulley 25, and the rear side of angle pulley 31 / the front side of angle pulley 31, and are fixed to the rear and front sides of angle pulley 31 respectively by two sets of four M6 nuts 24. This winding method creates two sets of coupled movable pulley mechanisms within the actuator. The superimposed tension amplification effect generated by the coupled movable pulley mechanisms expands the output range of the exoskeleton's axial load.

[0190] 2. The non-elastic waist belt 11 secures the entire biomechanical frame to the user's body via waist buckles 9, preventing misalignment. The non-elastic shoulder straps 2 pass through the front four-way sliding buckles 1 and the rear four-way sliding buckles 12, respectively, and are fixed to the front thigh frame 3 and the rear thigh frame 13. The rear thigh frame 13, the front thigh frame 3, and the upper pulley frame 18 of the actuator are sequentially connected and fixed to each other from the inside out on the outside of the user's thigh. The thigh straps 8 are connected to the two thigh frames, fixing them relative to the user's thigh. In addition, the upper pulley frame 18 is connected to the lower leg frame 4 via the lower pulley inner frame 19, and the lower leg straps 7 are connected to the lower leg frame 4, fixing them relative to the user's lower leg. The ankle frame 6 is connected to the lower leg frame 4 and is connected to the foot straps 5, fixing them relative to the user's ankle joint and restricting the degree of freedom of the joint. Axial loads are transmitted to the user through the ankle frame 6. The biomechanical framework design based on shoulder and foot anchor point analysis, and the ability to be worn on both sides, enable the exoskeleton to apply axial loads to the user without relying on gravity, simulating the axial mechanical stimulation effect of gravity on the human body in an upright state.

[0191] 3. Based on the special winding method of the rope-driven actuator, and considering friction loss, the output tension of the rope-driven actuator in the longitudinal degree of freedom can achieve at least 5 times the tension output effect of a single rope.

[0192] 4. The antagonistic drive combined with the coupling of the moving pulley block mechanism can realize the output of two degrees of freedom of force / torque, with a peak longitudinal tensile force of 1000N and a peak torque of up to 35NM.

[0193] 5. The rope-driven actuator is compact and has low inertia. The biomechanical frame, combined with the anchor point design concept in ergonomic design, improves the comfort and safety of wearing the device.

[0194] Although the present application is disclosed with reference to the preferred embodiments above, it is not intended to limit the present application, and any person skilled in the art can make possible changes and modifications without departing from the spirit and scope of the present application. Therefore, the protection scope of the present application should be subject to the scope defined by the claims of the present application.

[0195] Finally, it should be pointed out that: the above examples are only used to illustrate the technical solutions of the present application, but not to limit it. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A knee exoskeleton rehabilitation system for recumbent individuals, characterized in that, The knee exoskeleton rehabilitation system for recumbent individuals includes: A biomechanical framework comprising a non-elastic shoulder strap (2), a calf strap assembly, and a foot assembly; A cable-driven system, wherein the cable-driven system is connected to the non-elastic shoulder strap and the foot assembly respectively; wherein... The non-elastic shoulder strap (2) is placed on the shoulder of a lying human body; The foot assembly is disposed on the foot of the lying human body; The calf binding assembly is installed on the calf of the lying human body; The rope drive system is used to provide the following functions: The cable drive system is used to provide a force in a first direction to the shoulder of the reclining human body through the non-elastic shoulder strap and the cable drive system is used to provide a force in a second direction to the reclining human body through the foot assembly, wherein the force in the first direction and the force in the second direction are opposite to each other. The rope drive system is used to provide an auxiliary torque or resisting torque acting on the knee joint of the lying human body through the calf binding assembly; The biomechanical framework further includes a lumbar component and a thigh component; wherein... The non-elastic shoulder strap (2) is connected to the thigh assembly; The thigh assembly is connected to the rope drive system; One end of the calf binding assembly is connected to the foot assembly, and the other end of the calf binding assembly is connected to the rope drive system; The thigh assembly includes a front thigh frame (3), a thigh strap (8), and a rear thigh frame (13); wherein, One end of the non-elastic shoulder strap (2) is connected to the front thigh frame (3), and the other end of the non-elastic shoulder strap (2) is connected to the rear thigh frame (13). One end of the thigh strap (8) is used to connect to the front thigh frame (3), and the other end of the thigh strap (8) is used to connect to the rear thigh frame (13). The front thigh frame (3) and the rear thigh frame (13) are respectively connected to the rope drive system; The rope drive system includes a drive motor assembly and a rope drive actuator. The front thigh frame (3), rear thigh frame (13), and lower leg binding assembly are respectively connected to the rope drive actuator, and the drive motor is connected to the rope drive actuator. The drive motor assembly is used to drive the rope drive actuator to work, thereby causing one or more of the non-elastic shoulder strap, foot assembly and calf binding assembly to move; The rope-driven actuator includes a first pulley bearing assembly, an upper pulley frame (18), a lower pulley inner frame (19), a lower pulley outer frame (20), a second pulley bearing assembly, a Bowden cable sleeve one (14), a Bowden cable sleeve two (15), a steel wire rope one (26), and a steel wire rope two (36). The Bowden wire sleeve (14) is connected to the upper pulley frame (18); The Bowden sleeve 2 (15) is connected to the upper pulley frame (18); One side of the first pulley bearing assembly is connected to the inner frame (19) of the lower pulley, and the other side of the first pulley bearing assembly is connected to the outer frame (20) of the lower pulley; The side of the lower pulley outer frame (20) away from the first pulley bearing assembly is connected to the upper pulley frame (18); The side of the lower pulley inner frame (19) away from the first pulley bearing assembly is connected to the upper pulley frame (18); The upper pulley frame is connected to the front thigh frame (3) and the rear thigh frame (13) respectively; One side of the second pulley bearing assembly is connected to the inner frame (19) of the lower pulley; The other side of the second pulley bearing assembly is connected to the lower pulley outer frame (20); The calf binding assembly is connected to the inner frame (19) and the outer frame (20) of the lower wheel respectively; The first wire rope (26) passes through the first Bowden wire sleeve (14) and the first pulley bearing assembly and is then connected to the second pulley bearing assembly; The second steel wire rope (36) passes through the second Bowden wire sleeve (15) and the first pulley bearing assembly and is then connected to the second pulley bearing assembly; The second pulley bearing assembly is connected to the lower leg binding assembly; The drive motor assembly is connected to the first wire rope and the second wire rope respectively, and the drive motor assembly provides driving force to the first wire rope and / or the second wire rope.

2. The knee exoskeleton rehabilitation system for recumbent individuals as described in claim 1, characterized in that, The waist assembly includes a non-elastic waistband (11), a waist buckle (9), a front four-way sliding buckle (1), and a rear four-way sliding buckle (12); wherein, The non-elastic shoulder strap (2) passes through the front four-way sliding buckle (1) and the rear four-way sliding buckle (12) and is then connected to the thigh assembly; The non-elastic waist belt (2) is secured to the user by a waist buckle (9).

3. The knee exoskeleton rehabilitation system for recumbent individuals as described in claim 1, characterized in that, The first pulley bearing assembly includes a first fixed pulley (27), a second fixed pulley (35), a bearing for the first fixed pulley (37), a bearing for the second fixed pulley (43), and a shaft for the fixed pulley (42); wherein, The inner hole of the fixed pulley (27) is embedded with the fixed pulley bearing (37). The inner hole of the fixed pulley 2 (35) is embedded with the fixed pulley 2 bearing (43); The inner ring of the fixed pulley bearing (37) is nested and fixed to the fixed pulley shaft (42); The inner ring of the fixed pulley bearing (43) is nested and fixed to the fixed pulley shaft (42). One end of the fixed pulley shaft (42) is connected to the inner frame of the lower pulley, and the other end is connected to the outer frame of the lower pulley.

4. The knee exoskeleton rehabilitation system for recumbent individuals as described in claim 3, characterized in that, The second pulley bearing assembly includes a movable pulley one (22), an angle pulley (31), a movable pulley two (23), a movable pulley one bearing (39), an angle pulley bearing (38), a movable pulley two bearing (41), a movable pulley shaft (40), a slide rail one (28), a slider one (30), a shaft-slider fixing component one (29), a shaft-slider fixing component two (33), a slider two (32), and a slide rail two (34); wherein, The first movable pulley bearing (39), the angle pulley bearing (38), and the second movable pulley bearing (41) are all mounted on the movable pulley shaft; The movable pulley 1 (22) is mounted on the movable pulley 1 bearing (39); The angle pulley (31) is mounted on the angle pulley bearing (38); The second movable pulley (23) is mounted on the bearing (41) of the second movable pulley; Slider 1 (30) is mounted on slide rail 1 (28); One side of the shaft-slider fixing part (29) is fixed to the slider (30); The other side of the shaft-slider fixing part (29) is fixed to one end of the movable pulley shaft (40); The other end of the movable pulley shaft (40) is connected to the shaft-slider fixing part two (33); The other side of the shaft-slider fixing part two (33) is connected to the slider two (32); Slider 2 (32) is mounted on slide rail 2 (34); Slide rail 1 (28) is fixed to the inside of the inner frame (19) of the lower pulley; The slide rail 2 (34) is fixed to the inside of the outer frame (20) of the lower pulley.

5. The knee exoskeleton rehabilitation system for recumbent individuals as described in claim 4, characterized in that, The upper pulley frame is provided with two threaded holes, one threaded hole for accommodating the first through screw (16) and the other threaded hole for accommodating the second through screw (25). The Bowden wire sleeve (14) is inserted into the through screw (16); The Bowden sleeve 2 (15) is inserted into the through screw 2 (25); The connection between the steel wire rope (26) passing through the Bowden sleeve (14) and the first pulley bearing assembly and the second pulley bearing assembly includes: The steel wire rope (26) passes through or around the Bowden sleeve (14), the through screw (16), the front side of the movable pulley (22), the rear side of the fixed pulley (27), the front side of the fixed pulley (27), and the rear side of the angle pulley (31) in sequence, and is fixed to the rear side of the angle pulley by the nut (24). The connection between the second steel wire rope (36) after passing through the second Bowden sleeve (15) and the first pulley bearing assembly and the second pulley bearing assembly includes: The second wire rope (36) passes through or around the second Bowden sleeve (15), the second through screw (25), the rear side of the second movable pulley (24), the front side of the second fixed pulley (35), the rear side of the second fixed pulley (35), and the front side of the angle pulley (31) in sequence, and is fixed to the front side of the angle pulley (31) by the second nut (24).

6. The knee exoskeleton rehabilitation system for recumbent individuals as described in claim 5, characterized in that, The drive motor assembly includes a guide screw (44), a tension / compression sensor one (45), a motor mounting bracket (46), an encoder mounting bracket (47), an encoder one (48), an encoder two (49), a tension / compression sensor two (50), a motor driver one (51), a motor two (52), a motor one (53), a motor driver two (54), a winding shaft one (55), and a winding shaft two (56); wherein, The first wire rope (26) is fixed to the first motor (53) via the first winding shaft (55); Motor 1 (53) is fixed to motor mounting bracket (46); Encoder 1 (48) is connected to winding shaft 1 (55) and fixed to encoder mounting bracket (47); After the steel wire rope (26) is connected to the tension and compression sensor (45), it passes through the guide screw (44) fixed on the side of the motor mounting bracket (46) and through the Bowden sleeve (14). The second wire rope (36) is fixed relative to the second motor (52) via the second winding shaft (56); Motor 2 (52) is fixed to motor mounting bracket (46); Encoder 2 (49) is connected to winding shaft 2 (56) and fixed to encoder mounting bracket (47). After the steel wire rope 2 (36) is connected to the tension and compression sensor 2 (50), it passes through the guide screw (44) fixed on the side of the motor mounting bracket (46) and through the Bowden wire sleeve 2 (15).

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