Breaststroke hip joint auxiliary robot system

Abstract

The invention discloses a breaststroke hip joint auxiliary robot system which comprises a binding unit, a hip joint assisting unit, a posture keeping unit and a sensing unit. The hip joint assisting unit comprises a hip joint movable anchor point, a hip joint assisting Bowden cable and a hip joint driving unit, and the hip joint movable anchor point is connected with the rear side of the thigh binding part and the rear side of the knee binding part through a hip joint movable anchor point transverse fixing belt and an A-shaped structure fixing belt; one end of the hip joint assisting Bowden cable is connected with the hip joint driving unit, and the other end of the hip joint assisting Bowden cable backwards penetrates through the hip joint moving anchor point on the same side through the side face of the body of the user and then is fixed to the other hip joint moving anchor point; the posture keeping unit comprises a back movable anchor point, a shoulder fixed anchor point connecting belt and a hip joint movable anchor point longitudinal fixing belt. The motion intention of the human body is sensed through the inertial sensor, the breaststroke motion stage is judged, the hip joint assisting unit is controlled to assist, and physical output of a user is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of underwater exoskeletons, and in particular to a breaststroke hip joint assisting robot system. Background Art

[0002] Breaststroke occupies an important position in the swimming world. It is a widely used stroke suitable for swimmers of all ages and skill levels. It plays an important role in water activities, including water rescue, beginner learning, water observation and scientific research, water filming and photography, etc. However, breaststroke also has disadvantages such as slow speed, high physical exertion, and low leg efficiency.

[0003] In many cases, swimmers are required to perform breaststroke for a long time. However, since breaststroke requires frequent body movements and breathing, if the swimmer has poor skills or insufficient physical fitness, long-term swimming may cause muscle fatigue or even cramps, increasing the risk of drowning. Therefore, the power-assisted exoskeleton robot based on human motion intention perception technology can provide certain assistance to personnel who need to perform breaststroke in the water for a long time, improve work efficiency, and reduce danger.

[0004] CN 114800445 A discloses an amphibious exoskeleton robot system for underwater rescue, CN114797062 A discloses a swimming teaching auxiliary exoskeleton device, and CN 117047739 A discloses an exoskeleton robot hip joint direct drive power assist device. Although the above-mentioned prior arts can assist the operator's underwater movement, they are all mechanical exoskeletons, the equipment is complex and heavy, the joint freedom is poor, and they are not specifically designed to assist breaststroke, and the user experience is poor. CN112936232 A discloses a hip joint exoskeleton robot system for assisting diving. Although it is a flexible exoskeleton system, it is only suitable for assisting the hip joint and cannot standardize the diving action.

[0005] Therefore, it is of great practical significance to develop a breaststroke-assisted underwater exoskeleton that has good adaptability to posture changes, good joint freedom, good user experience, and can standardize diving movements. Summary of the invention

[0006] Due to the above-mentioned defects in the prior art, the present invention provides a breaststroke assisted underwater exoskeleton with good adaptability to posture changes, good joint freedom, good user experience and the ability to standardize diving movements. Specifically, it is a breaststroke hip joint assisted robot system, which overcomes the defects of existing underwater exoskeletons that are mostly mechanical exoskeletons, with complex and heavy equipment, poor joint freedom, poor user experience and inability to standardize diving movements.

[0007] In order to achieve the above object, the present invention provides the following technical solutions:

[0008] A breaststroke hip joint assisting robot system, comprising a binding unit, a hip joint assisting unit, a posture maintaining unit and a sensing unit;

[0009] The binding unit comprises a vest, a waist belt, a thigh binding part and a knee binding part;

[0010] The hip joint assisting unit comprises a hip joint movable anchor point, a hip joint assisting Bowden cable and a hip joint driving unit, wherein the hip joint driving unit comprises a controller, and the hip joint driving unit is fixed to the front side of the vest, and there are two hip joint movable anchor points, which are respectively arranged at the rear side of the thigh binding part, and the hip joint movable anchor points are respectively connected to the rear side of the thigh binding part and the rear side of the knee binding part through the hip joint movable anchor point transverse fixing belt and the A-type structure fixing belt, and there are two hip joint assisting Bowden cables, one end of the hip joint assisting Bowden cable is connected to the hip joint driving unit, and the other end passes through the side of the user's body backward through the hip joint movable anchor point on the same side as the hip joint assisting Bowden cable and is then fixed to the other hip joint movable anchor point;

[0011] The posture holding unit comprises a back movable anchor point, a shoulder fixed anchor point connecting belt and a hip joint movable anchor point longitudinal fixing belt, the back movable anchor point is arranged at the middle position of the user's back, the two hip joint movable anchor points and the back movable anchor point form an isosceles triangle, the back movable anchor point is respectively fixed to the two shoulder fixed anchor points at the shoulder position of the vest through the two shoulder fixed anchor point connecting belts, and the back movable anchor point is simultaneously fixed to the two hip joint movable anchor points through the two hip joint movable anchor point longitudinal fixing belts;

[0012] The sensing unit is used to receive action intention signals and transmit relevant signals to the controller. After processing the relevant signals, the controller obtains a control scheme and controls the hip joint assist unit to perform corresponding actions and provide assistance according to the control scheme.

[0013] The hip joint assisting Bowden cable passes through the hip joint movable anchor point on the same side as the hip joint assisting Bowden cable and is fixed to another hip joint movable anchor point. This installation form can work well with the posture maintenance unit to regulate the displacement of the hip joint movable anchor point during swimming.

[0014] The hip joint movable anchor point and the back movable anchor point are connected to the binding unit through multiple anchor point connecting belts to form a posture maintaining unit. The hip joint driving unit is connected to the two hip joint movable anchor points through the hip joint assisting Bowden cable. The hip joint assisting Bowden cable can be tightened or loosened through the hip joint driving unit to provide assistance for the adduction or extension of the hip joint. The movement of the hip joint movable anchor point drives the posture maintaining unit to assist in standardizing the breaststroke stroke.

[0015] The operating logic of the above-mentioned breaststroke hip joint assisting robot system is as follows:

[0016] The perception unit collects the user's action intention signals during breaststroke, and the action intention signals are transmitted to the controller. The controller will preprocess, extract features and classify the collected action intention signals to determine which action stage of breaststroke the user is in at this time. Preprocessing is to filter the collected signals, remove useless signals, amplify and use useful signals; feature extraction is to collect the characteristic signals of each action, and the difference in characteristic signals represents the actions of different stages of breaststroke; classification is to determine which action stage of breaststroke the user is in according to different action characteristics. After obtaining the processing results, the controller determines the control scheme according to the results, and then controls the hip joint assist unit to make corresponding actions according to the control scheme to achieve assistance for hip adduction. At the same time, with the cooperation of the posture maintaining unit, the system can limit the bending action of a person in an upright state, so as to achieve the effect of assisting the horizontal posture when maintaining the horizontal posture in the gliding stage of the breaststroke action, and realize the effective standardization of the breaststroke swimming posture. The cooperation of the above units can effectively reduce the physical exertion of a person during the breaststroke process and greatly improve the user experience.

[0017] The breaststroke hip-joint assistive robot system of the present invention utilizes a sensing unit to predict the user's movement intention in advance to achieve optimal assistance work, and has good accuracy, simple operation and strong adaptability; the main components are arranged on the upper body, which can minimize the load on the lower body to facilitate the user's swimming; the whole is a flexible exoskeleton, which can better fit and adapt to human body movements, provide greater joint freedom, and have better adaptability to posture changes, and the overall weight is light, which can provide a more comfortable wearing experience; the structural design is reasonable, and the diving action can be effectively regulated through the cooperation of the hip-joint assisting unit and the posture maintaining unit, and the applicability and user experience are good, and the application prospect is good.

[0018] As the preferred technical solution:

[0019] In the breaststroke hip joint assisting robot system as described above, the vest and the belt are connected via a vest-belt connecting strap and a Velcro on the back of the user.

[0020] In the breaststroke hip joint assisting robot system as described above, the waist belt and thigh binding part are connected on the front side of the user through the waist belt and thigh binding device connecting belt.

[0021] In the breaststroke hip-joint assistive robot system as described above, the hip-joint drive unit is fixed to the front side of the vest by a plurality of hip-joint drive unit fixing straps, wherein two hip-joint drive unit fixing straps are fixed to two shoulder fixing anchor points at the shoulder position of the vest.

[0022] A breaststroke hip-joint assistive robot system as described above, wherein the hip-joint drive unit further comprises a hip-joint drive housing, a hip-joint drive unit chassis, a hip-joint drive motor and a hip-joint drive reel;

[0023] The controller is electrically connected to the hip joint drive motor, and the controller is used to control the movement of the hip joint drive motor;

[0024] A mounting hole I for mounting a hip joint drive motor and a hip joint drive winding wheel is provided on one side of the hip joint drive unit chassis, and a mounting hole II for mounting a controller is provided on the other side. The controller is installed in the mounting hole II and the opening of the mounting hole II is closed. The hip joint drive motor and the hip joint drive winding wheel are installed in the mounting hole I. The driving shaft of the hip joint drive motor is connected to the hip joint drive winding wheel. Two hip joint assist Bowden cables are wound around the hip joint drive winding wheel. The hip joint drive housing is fixed to the hip joint drive unit chassis by bolts and the hip joint drive housing closes the opening of the mounting hole I. When the hip joint drive motor rotates, it will drive the hip joint drive winding wheel to rotate together. When the hip joint assist Bowden cable wrapped on the hip joint drive winding wheel contracts under the action of the hip joint drive unit, the hip joint active anchor point will move inward toward the inner side of the leg, achieving the assisting effect of hip adduction. This is the gliding stage of the breaststroke movement. The angle between the longitudinal fixing belts of the hip joint active anchor point becomes smaller under the influence of the hip joint active anchor point, which limits the bending action of the person in an upright state, thereby achieving the assisting effect of maintaining a horizontal posture during the gliding stage of the breaststroke movement.

[0025] In a breaststroke hip joint assistive robot system as described above, a hip joint drive waterproof ring is provided between the hip joint drive reel and the hip joint drive unit chassis to achieve waterproof sealing, and the hip joint drive motor is a built-in drive motor and does not require an additional drive module.

[0026] A breaststroke hip-joint assistive robot system as described above, wherein the hip-joint drive unit further comprises a battery for powering the underwater flexible exoskeleton robot system;

[0027] The battery is installed in the installation hole II.

[0028] A breaststroke hip joint assisting robot system as described above, wherein the sensing unit is an inertial sensor on the front of the thigh;

[0029] There are two inertial sensors on the front of the thighs, and the two inertial sensors on the front of the thighs are respectively fixed on the front sides of the two calves of the user through the thigh binding parts.

[0030] In the breaststroke hip joint assisting robot system as described above, the inertial sensor on the front of the thigh has been waterproofed.

[0031] The above technical solution is only a feasible technical solution of the present invention, and the protection scope of the present invention is not limited thereto. Those skilled in the art can reasonably adjust the specific design according to actual needs.

[0032] The above invention has the following advantages or beneficial effects:

[0033] (1) The breaststroke hip joint assistive robot system of the present invention can predict the user's movement intention in advance by setting an inertial sensor, perform feature recognition when the user performs various actions, predict the next action based on the inertial sensor signal, and control the exoskeleton to make corresponding actions to achieve the power assist function;

[0034] (2) The breaststroke hip joint assistive robot system of the present invention can identify the specific stage of the breaststroke movement of the user by setting up inertial sensors to collect signals and classify them. Based on the perception and prediction of movement intention, the system can accurately provide assistance to the wearer and can accurately assist the user's movements. It is simple to operate and has strong adaptability.

[0035] (3) The breaststroke hip joint assistive robot system of the present invention can better fit and adapt to human body movements, provide greater joint freedom, and better adapt to posture changes by providing a flexible exoskeleton. It is also lightweight and can provide a more comfortable wearing experience.

[0036] (4) The breaststroke hip joint assistive robot system of the present invention arranges the main components on the upper body, which can minimize the load on the lower body and improve the user experience;

[0037] (5) The breaststroke hip joint assistive robot system of the present invention has a reasonable structural design. The cooperation between the hip joint assisting unit and the posture maintaining unit can effectively regulate the diving action, further improving the user experience and having good application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The present invention and its features, appearance and advantages will become more apparent by reading the detailed description of non-limiting embodiments with reference to the following drawings. The same reference numerals indicate the same parts in all the drawings. The drawings are not drawn to scale, and emphasis is placed on illustrating the subject matter of the present invention.

[0039] Figure 1 It is a front view schematic diagram of the breaststroke hip joint assisting robot system of the present invention;

[0040] Figure 2 A rear view schematic diagram of the breaststroke hip joint assisting robot system of the present invention;

[0041] Figure 3 An exploded view of a hip joint drive unit of the present invention;

[0042] Among them, 1- vest; 2- waist belt; 3- thigh binding part; 4- knee binding part; 5- thigh front inertial sensor; 6- waist belt and thigh binding device connecting belt; 7- vest and waist belt connecting belt; 8- hip joint drive unit; 9- hip joint drive unit fixing belt; 10- back movable anchor point; 11- hip joint movable anchor point; 12- A-type structure fixing belt; 13- hip joint movable anchor point lateral fixing belt; 14- hip joint assist Bowden cable; 15- hip joint movable anchor point longitudinal fixing belt; 16- shoulder fixed anchor point connecting belt; 801- hip joint drive unit chassis; 802- hip joint drive motor; 803- hip joint drive waterproof ring; 804- hip joint drive winding wheel; 805- hip joint drive housing; 806- controller; 807- battery. DETAILED DESCRIPTION

[0043] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but they are not intended to limit the present invention.

[0044] Example 1

[0045] A breaststroke hip joint assisting robot system, comprising a binding unit, a hip joint assisting unit, a posture maintaining unit and a sensing unit;

[0046] The binding unit comprises a vest 1, a waist belt 2, a thigh binding part 3 and a knee binding part 4, the vest 1 and the waist belt 2 are connected by a vest-belt connecting belt 7 and a Velcro on the rear side of the user, and the waist belt 2 and the thigh binding part 3 are connected on the front side of the user by a waist belt-thigh binding device connecting belt 6;

[0047] The hip joint assist unit includes a hip joint movable anchor point 11, a hip joint assist Bowden cable 14 and a hip joint drive unit 8. The hip joint drive unit 8 includes a controller 806, a hip joint drive housing 805, a hip joint drive unit chassis 801, a hip joint drive motor 802, a hip joint drive reel 804 and a battery 807 for powering the underwater flexible exoskeleton robot system. The controller 807 is electrically connected to the hip joint drive motor 802. One side of the hip joint drive unit chassis 801 is provided with a battery 807 for installing the hip joint drive motor 802. 02 and a mounting hole I for the hip joint drive winding wheel 804, and a mounting hole II for mounting the controller 806 and the battery 807 on the other side. The controller 806 and the battery 807 are mounted in the mounting hole II and the opening of the mounting hole II is closed. The hip joint drive motor 802 and the hip joint drive winding wheel 804 are mounted in the mounting hole I, and a hip joint drive waterproof ring 803 is provided between the hip joint drive winding wheel 804 and the hip joint drive unit chassis 801. The driving shaft of the hip joint drive motor 802 is connected to the hip joint drive winding wheel 804. 04 connection, two hip joint assisting Bowden cables 14 are wound on the hip joint driving reel 804, the hip joint driving housing 805 is fixed to the hip joint driving unit chassis 801 by bolts and the hip joint driving housing 805 closes the opening of the mounting hole I, the hip joint driving unit 8 is fixed to the front side of the vest 1 (the hip joint driving unit 8 is fixed to the front side of the vest 1 by a plurality of hip joint driving unit fixing belts 9, wherein two hip joint driving unit fixing belts 9 are fixed to two shoulder fixing anchor points at the shoulder position of the vest 1), and the hip joint movable anchor point 11 There are two hip joint active anchor points 11, which are respectively arranged at the rear side of the thigh binding part 3. The hip joint active anchor points 11 are respectively connected to the rear side of the thigh binding part 3 and the rear side of the knee binding part 4 through the hip joint active anchor point transverse fixing belt 13 and the A-type structure fixing belt 12. There are two hip joint assisting Bowden cables 14. One end of the hip joint assisting Bowden cable 14 is wound and connected with the hip joint driver winding wheel 804, and the other end passes through the side of the user's body backward through the hip joint active anchor point on the same side as the hip joint assisting Bowden cable and is then fixed to the other hip joint active anchor point.

[0048] The posture holding unit comprises a back movable anchor point 10, a shoulder fixed anchor point connecting belt 16 and a hip joint movable anchor point longitudinal fixing belt 15. The back movable anchor point 10 is arranged at the middle position of the user's back. The two hip joint movable anchor points 11 and the back movable anchor point 10 form an isosceles triangle. The back movable anchor point 10 is respectively fixed to the two shoulder fixed anchor points at the shoulder position of the vest 1 through the two shoulder fixed anchor point connecting belts 16. The back movable anchor point 10 is fixed to the two hip joint movable anchor points 11 through the two hip joint movable anchor point longitudinal fixing belts 15 at the same time.

[0049] The sensing unit is a waterproof front thigh inertial sensor 5. There are two front thigh inertial sensors 5, and the two front thigh inertial sensors 5 are respectively fixed on the front sides of the two calves of the user through the thigh binding part 3. The sensing unit receives the action intention signal and transmits the relevant signal to the controller 806. After processing the relevant signal, the controller 806 obtains the control plan and controls the hip joint assist unit to make corresponding actions to provide assistance according to the control plan.

[0050] Working principle:

[0051] The inertial sensor 5 on the front of the thigh collects the user's action intention signal during breaststroke, and the action intention signal is transmitted to the controller. The controller 806 will pre-process, extract features and classify the collected action intention signals to determine which action stage of breaststroke the user is in at this time. The pre-processing is to filter the collected signals, remove useless signals, amplify and use useful signals; feature extraction is to collect the characteristic signals of each action, and the difference in characteristic signals represents the actions of different stages of breaststroke; classification is to determine which action stage of breaststroke the user is in according to different action characteristics. After obtaining the processing results, the controller determines the control scheme according to the results, and then controls the hip joint assist unit to make corresponding actions according to the control scheme to achieve assistance for hip adduction. At the same time, with the cooperation of the posture maintaining unit, the system can limit the bending action of the person in the upright state, so as to achieve the effect of assisting the horizontal posture when maintaining the breaststroke action in the gliding stage, thereby achieving effective standardization of the breaststroke swimming posture.

[0052] It has been verified that the breaststroke hip joint assistive robot system of the present invention can predict the user's movement intention in advance by setting an inertial sensor, perform feature recognition when the user performs various actions, predict the next action according to the inertial sensor signal, and control the exoskeleton to make corresponding actions to achieve the power-assisting function; by setting an inertial sensor to collect signals and classify them, it can identify the specific stage of the user's breaststroke action, and based on the perception prediction of the movement intention, the system can accurately provide assistance to the wearer, and can accurately assist the user's actions, with simple operation and strong adaptability; by setting a flexible exoskeleton, it can better fit and adapt to the movement of the human body, provide greater joint freedom, and have better adaptability to posture changes, and the overall weight is light, which can provide a more comfortable wearing experience; arranging the main components on the upper body can minimize the load on the lower body and improve the user experience; the structural design is reasonable, and the cooperation of the hip joint assist unit and the posture maintaining unit can effectively regulate the diving action, further improve the user experience, and have good application prospects.

[0053] Those skilled in the art should understand that those skilled in the art can implement variations by combining the prior art and the above embodiments, which will not be described in detail here. Such variations do not affect the essential content of the present invention, and will not be described in detail here.

[0054] The above describes the preferred embodiments of the present invention. It should be understood that the present invention is not limited to the above-mentioned specific embodiments, and the devices and structures that are not described in detail should be understood to be implemented in a common manner in the art; any technician familiar with the art can use the above-disclosed methods and technical contents to make many possible changes and modifications to the technical solutions of the present invention without departing from the scope of the technical solutions of the present invention, or modify them into equivalent embodiments of equivalent changes, which does not affect the essential content of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention are still within the scope of protection of the technical solutions of the present invention.

Claims

1. A breaststroke hip joint assisting robot system, characterized in that: It includes a binding unit, a hip joint assisting unit, a posture maintaining unit and a sensing unit; The binding unit comprises a vest, a waist belt, a thigh binding part and a knee binding part; The hip joint assisting unit comprises a hip joint movable anchor point, a hip joint assisting Bowden cable and a hip joint driving unit, wherein the hip joint driving unit comprises a controller, and the hip joint driving unit is fixed to the front side of the vest, and there are two hip joint movable anchor points, which are respectively arranged at the rear side of the thigh binding part, and the hip joint movable anchor points are respectively connected to the rear side of the thigh binding part and the rear side of the knee binding part through the hip joint movable anchor point transverse fixing belt and the A-type structure fixing belt, and there are two hip joint assisting Bowden cables, one end of the hip joint assisting Bowden cable is connected to the hip joint driving unit, and the other end passes through the side of the user's body backward through the hip joint movable anchor point on the same side as the hip joint assisting Bowden cable and is then fixed to the other hip joint movable anchor point; The posture holding unit comprises a back movable anchor point, a shoulder fixed anchor point connecting belt and a hip joint movable anchor point longitudinal fixing belt, the back movable anchor point is arranged at the middle position of the user's back, the two hip joint movable anchor points and the back movable anchor point form an isosceles triangle, the back movable anchor point is respectively fixed to the two shoulder fixed anchor points at the shoulder position of the vest through the two shoulder fixed anchor point connecting belts, and the back movable anchor point is simultaneously fixed to the two hip joint movable anchor points through the two hip joint movable anchor point longitudinal fixing belts; The sensing unit is used to receive action intention signals and transmit relevant signals to the controller. After processing the relevant signals, the controller obtains a control scheme and controls the hip joint assist unit to perform corresponding actions and provide assistance according to the control scheme.

2. A breaststroke hip joint assisting robot system according to claim 1, characterized in that: The vest and the waist belt are connected by a vest and waist belt connecting belt and a Velcro on the back side of the user.

3. The breaststroke hip joint assisting robot system according to claim 1, characterized in that: The waist belt and thigh binding part are connected at the front side of the user through the waist belt and thigh binding device connecting belt.

4. The breaststroke hip joint assisting robot system according to claim 1, characterized in that: The hip joint drive unit is fixed to the front side of the vest through a plurality of hip joint drive unit fixing belts, wherein two hip joint drive unit fixing belts are fixed to two shoulder fixing anchor points at the shoulder positions of the vest.

5. The breaststroke hip joint assisting robot system according to claim 1, characterized in that: The hip joint drive unit also includes a hip joint drive housing, a hip joint drive unit chassis, a hip joint drive motor and a hip joint drive reel; The controller is electrically connected to the hip joint drive motor; A mounting hole I for mounting a hip joint drive motor and a hip joint drive winding wheel is provided on one side of the hip joint drive unit chassis, and a mounting hole II for mounting a controller is provided on the other side. The controller is installed in the mounting hole II and the opening of the mounting hole II is closed. The hip joint drive motor and the hip joint drive winding wheel are installed in the mounting hole I. The driving shaft of the hip joint drive motor is connected to the hip joint drive winding wheel. Two hip joint assist Bowden cables are wound around the hip joint drive winding wheel. The hip joint drive housing is fixed to the hip joint drive unit chassis by bolts and the hip joint drive housing closes the opening of the mounting hole I.

6. The breaststroke hip joint assisting robot system according to claim 5, characterized in that: A hip joint drive waterproof ring is arranged between the hip joint drive reel and the hip joint drive unit chassis.

7. The breaststroke hip joint assisting robot system according to claim 5, characterized in that: The hip joint drive unit also includes a battery for powering the underwater flexible exoskeleton robot system; The battery is installed in the installation hole II.

8. The breaststroke hip joint assisting robot system according to claim 1, characterized in that: The sensing unit is an inertial sensor on the front of the thigh; There are two inertial sensors on the front of the thighs, and the two inertial sensors on the front of the thighs are respectively fixed on the front sides of the two calves of the user through the thigh binding parts.

9. The breaststroke hip joint assisting robot system according to claim 8, characterized in that: It is characterized in that The front thigh inertial sensor is waterproofed.

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