Intelligent trajectory planning four-limb linkage movable rehabilitation exoskeleton
The exoskeleton, with its intelligent trajectory planning and limb linkage design, addresses the shortcomings of exoskeleton products in limb linkage and natural movement trajectory simulation, enabling safe and stable movement and efficient rehabilitation training in complex environments.
Patent Information
- Application Number
- CN202423247282.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-27
- Publication Date
- 2025-12-16
- Estimated Expiration
- 2034-12-27
AI Technical Summary
Existing exoskeleton products are inadequate in terms of limb coordination and simulation of natural human movement trajectories, which limits the collaboration between the human body and the exoskeleton in complex movement patterns and affects the rehabilitation process.
The intelligent trajectory planning four-limb linkage mobile rehabilitation exoskeleton is adopted. By wearing the four-limb linkage exoskeleton and connecting it with the navigation walking base station through a quick-release connection to prevent mis-insertion, combined with the quick-release interface of the motion control center, upper limb and lower limb linkage components, and setting up a guide rail sliding translation mechanism and main control integrated circuit, accurate motion trajectory simulation and coordination can be achieved.
It improves the motion precision, comfort, and flexibility of exoskeleton products, ensuring safe and stable movement in different terrains and environments, supporting unmanned operation and autonomous planning, and ensuring the orderly execution of rehabilitation training.
Smart Images
Figure CN223671228U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to the related technical field of auxiliary appliance, concretely relates to a kind of intelligent trajectory planning four limbs linkage mobile rehabilitation type exoskeleton. BACKGROUND
[0002] With the aggravation of population aging and the increasing demand of society to the elderly group and rehabilitation patients, rehabilitation medical technology has developed rapidly, and modern technology, especially the combination of robot technology and intelligent wearable equipment, promotes the development of intelligent rehabilitation equipment, and exoskeleton technology, as a new intelligent wearable device, gradually becomes an important part of the field of rehabilitation medicine.
[0003] At present, exoskeleton products are mainly used to enhance human movement ability, especially in helping paralyzed patients to recover walking function, however, the existing exoskeleton products still have deficiencies in four limbs linkage, simulation of natural human motion trajectory and coordination between parts. UTILITY MODEL CONTENT
[0004] The present application provides an intelligent trajectory planning four limbs linkage mobile rehabilitation type exoskeleton, which solves the technical problem of insufficient attention to the linkage and coordination of exoskeleton equipment for each part of the human body, which limits the cooperation between the human body and the exoskeleton in complex motion patterns and affects the rehabilitation process, realizes the accurate simulation of intelligent trajectory planning, four limbs linkage and natural human motion trajectory, improves the motion accuracy, comfort, flexibility and coordination of exoskeleton products, realizes unmanned value of walking base station, autonomously plans safe and efficient marching path, ensures safe and stable movement in different terrain and environment, and guarantees the orderly execution of rehabilitation training.
[0005] In view of the above problems, the present application provides an intelligent trajectory planning four limbs linkage mobile rehabilitation type exoskeleton, which comprises a wearable four limbs linkage exoskeleton primary component, a navigation walking base station primary component, and a fast disassembly mechanical and electrical integrated interface for physical and electrical connection between the navigation walking base station primary component and the wearable four limbs linkage exoskeleton primary component; wherein the wearable four limbs linkage exoskeleton primary component comprises a motion control center secondary component, an upper limb linkage secondary component and a lower limb linkage secondary component, the motion control center secondary component is provided with a plurality of fast disassembly mechanical and electrical integrated / discrete interfaces, and is physically and electrically connected with the upper limb linkage secondary component and the lower limb linkage secondary component; the motion control center secondary component and the upper limb linkage secondary component are provided with a guide rail type sliding translation mechanism along the vertical axis direction of the human body; the motion control center secondary component is provided with a main control unit integrated circuit to control and correct the motion trajectory of the wearable four limbs linkage exoskeleton primary component.
[0006] The one or more technical solutions provided in the application have at least the following technical effects or advantages:
[0007] The embodiment of the application adopts an intelligent trajectory planning four-limb linkage mobile rehabilitation type exoskeleton, which comprises a wearable four-limb linkage exoskeleton and a navigation walking base station connected through a false insertion prevention quick release interface; the exoskeleton comprises a motion control center, an upper limb linkage component and a lower limb linkage component connected through the quick release interface; the motion control center and the upper limb component are provided with a guide rail type sliding translation mechanism and comprise a main control integrated circuit for controlling and correcting the motion trajectory of the exoskeleton. The precise simulation of the intelligent trajectory planning, four-limb linkage and natural motion trajectory of the human body is realized, the motion accuracy, comfort, flexibility and coordination of the exoskeleton product are improved, the walking base station is unmanned and guarded, a safe and efficient marching path is autonomously planned, safe and stable movement in different terrains and environments is ensured, and the orderly execution of rehabilitation training is ensured. BRIEF DESCRIPTION OF DRAWINGS
[0008] Figure 1 A structure diagram of a wearable four-limb linkage exoskeleton primary component of an intelligent trajectory planning four-limb linkage mobile rehabilitation type exoskeleton according to the application is shown in the figure;
[0009] Figure 2 A structure diagram of an intelligent trajectory planning four-limb linkage mobile rehabilitation type exoskeleton according to the application is shown in the figure;
[0010] The figure legend is as follows: motion control center secondary component 10, upper limb linkage secondary component 20, shoulder width and height adjustment tertiary component 21, left shoulder joint motion tertiary component 22, right shoulder joint motion tertiary component 23, lower limb linkage secondary component 30, left hip-knee linkage adjustment tertiary component 31, left knee bare linkage adjustment tertiary component 32, left foot bottom support tertiary component 33, right hip-knee linkage adjustment tertiary component 34, right knee bare linkage adjustment tertiary component 35, right foot bottom support tertiary component 36, hip width and depth adjustment tertiary component 37, synchronous reverse adjustment mechanism 41, physical and electrical connection node 42. DETAILED DESCRIPTION
[0011] The application provides an intelligent trajectory planning four-limb linkage mobile rehabilitation type exoskeleton, which solves the technical problem that the linkage and coordination of the exoskeleton device for each part of the human body are not paid enough attention to, resulting in limited cooperation between the human body and the exoskeleton in complex motion modes and affecting the rehabilitation process, realizes the precise simulation of the intelligent trajectory planning, four-limb linkage and natural motion trajectory of the human body, improves the motion accuracy, comfort, flexibility and coordination of the exoskeleton product, the walking base station is unmanned and guarded, a safe and efficient marching path is autonomously planned, safe and stable movement in different terrains and environments is ensured, and the orderly execution of rehabilitation training is ensured.
[0012] EMBODIMENT
[0013] As Figure 1 shown, the present application provides a smart trajectory planning four-limb linkage mobile rehabilitation exoskeleton, which comprises:
[0014] Wearing four-limb linkage exoskeleton primary component; navigation walking base station primary component, the navigation walking base station primary component is connected with the wearing four-limb linkage exoskeleton primary component with the mechanical and electrical integrated interface of anti-misplug quick release type to realize reliable physical and electrical connection; wherein the wearing four-limb linkage exoskeleton primary component includes motion control center secondary component, upper limb linkage secondary component and lower limb linkage secondary component, the motion control center secondary component is provided with a plurality of quick release type mechanical and electrical integrated / separated interfaces, and is connected with the upper limb linkage secondary component and the lower limb linkage secondary component to realize reliable physical and electrical connection; the motion control center secondary component and the upper limb linkage secondary component are provided with a guide rail type sliding translation mechanism along the vertical axis direction of the human body; the motion control center secondary component is provided with a main control unit integrated circuit to control and correct the motion trajectory of the wearing four-limb linkage exoskeleton primary component.
[0015] Specifically, the navigation walking base station primary component and the wearing four-limb linkage exoskeleton primary component realize reliable physical and electrical connection through the mechanical and electrical integrated interface of anti-misplug quick release type, and the mechanical interface of anti-misplug quick release type can ensure that there is no insertion error or poor connection when connected, thereby ensuring the safety and stability of the equipment. The motion control center secondary component is provided with a plurality of quick release type mechanical and electrical integrated / separated interfaces, and is connected with the upper limb linkage secondary component and the lower limb linkage secondary component to realize reliable physical and electrical connection; the motion control center secondary component and the upper limb linkage secondary component are provided with a guide rail type sliding translation mechanism along the vertical axis direction of the human body, thereby adapting to the shoulder height adjustment of different people; the motion control center secondary component is provided with a storage type direct current power supply and a power supply control module to provide stable power for the exoskeleton.
[0016] Preferably, the motion control center secondary component is responsible for coordinating and managing the motion of the entire exoskeleton, and the motion control center secondary component is connected with the upper limb linkage and the lower limb linkage secondary component through a plurality of quick release type mechanical and electrical integrated / separated interfaces, so that each component can be flexibly disassembled or replaced, facilitating maintenance and adjustment. Through this design, users can adjust the connection mode of each component according to individual needs and body size to ensure the most suitable wearing experience.
[0017] In addition, the motion control center secondary component and the upper limb linkage secondary component are provided with a guide rail type sliding translation mechanism along the vertical axis direction of the human body, and the guide rail type sliding translation mechanism can make the upper limb linkage component make smooth and accurate translation adjustment according to the needs of human body movement, so as to better simulate the natural motion trajectory of the human body and improve the comfort and flexibility.
[0018] The main control unit integrated circuit built into the motion control center secondary component is responsible for real-time control and correction of the motion trajectory of the exoskeleton. Based on sensor feedback, the main control unit integrated circuit can monitor the wearer's motion state in real time and automatically adjust the motion of the exoskeleton to ensure synchronization with the natural motion of the wearer and correct any deviations caused by changes in the external environment or irregular motion. Through this precise control, the motion trajectory is optimized, ensuring the coordination and safety of the motion and improving the therapeutic effect during the rehabilitation process.
[0019] Overall, the intelligent trajectory planning four-limb linkage mobile rehabilitation exoskeleton described in this application improves the adaptability, flexibility and comfort of the exoskeleton product through high-precision motion control, flexible component connection and intelligent trajectory adjustment, and enhances the rehabilitation effect of the user, ensuring the safety and stability of the patient during the rehabilitation process.
[0020] Further, it also includes:
[0021] The upper limb linkage secondary component includes shoulder width and height adjustment tertiary components, left shoulder joint motion tertiary components, right shoulder joint motion tertiary components, and binding adjustment components. The shoulder width and height adjustment tertiary components are respectively provided with mechanical interfaces along the coronal axis direction of the human body on both sides of the human body.
[0022] Further, it also includes:
[0023] The mechanical interfaces and the left and right shoulder joint motion tertiary components are combined with a disassembly mechanism, which includes a cam type locking mechanism, a threaded type locking mechanism, a friction type locking mechanism, and a plunger type locking mechanism.
[0024] In an implementable manner, the upper limb linkage secondary component includes shoulder width and height adjustment tertiary components, left shoulder joint movement tertiary components, right shoulder joint movement tertiary components, and necessary binding adjustment components that match the physiological characteristics of the human body; the shoulder width and height adjustment tertiary components are respectively provided with reliable mechanical interfaces along the coronal axis direction of the human body on both sides of the human body, realizing the quick disassembly and assembly of the left and right shoulder joint movement tertiary components, the disassembly and assembly mechanism includes cam type, threaded type, friction type, plunger type, etc. locking mechanism, the cam type locking mechanism refers to the cooperation of cam and sliding groove, locking or loosening the connecting components by rotating or moving the cam, usually with self-locking function, suitable for quick connection; the threaded type locking mechanism refers to the fixation of components through the rotation of the thread, usually requiring rotation of a part to complete the connection or disassembly; the friction type locking mechanism refers to the fixation of connecting components by applying friction, common ones are buckles or clamping methods, which can provide certain fixing strength; the plunger type locking mechanism refers to the use of plunger or pin to fix the components by inserting into the hole, the plunger can be automatically inserted and released by spring force, etc.
[0025] Preferably, the shoulder width and height adjustment tertiary component is used to adjust the shoulder width and height of the upper limb exoskeleton, so that it can flexibly adapt to the body shape of different users, the shoulder width and height adjustment tertiary component is respectively provided with mechanical interfaces along the coronal axis direction of the human body (i.e. the direction extending from the left and right shoulders), the mechanical interfaces are combined with the left and right shoulder joint movement tertiary components with disassembly and assembly mechanism, so that the shoulder width and height adjustment tertiary component, the left shoulder joint movement tertiary component and the right shoulder joint movement tertiary component are stably connected, while providing necessary adjustment space.
[0026] The left and right shoulder joint movement tertiary components respectively correspond to the movement ability of the left and right shoulders of the human body, support the flexible movement of the shoulder joint, help simulate the natural shoulder joint activity of the human body, are connected through the mechanical interfaces of the shoulder width and height adjustment tertiary component, and are coordinated with the motion control center secondary component, ensuring that the left and right shoulders can independently and accurately move, thereby improving the adaptability of the overall structure.
[0027] The binding adjustment component is used to further adjust the comfort and fixation of the wearer, ensuring that the connection between the shoulder width and height adjustment tertiary component, the left shoulder joint movement tertiary component and the right shoulder joint movement tertiary component is stable and does not cause compression or discomfort to the user. The binding adjustment component is usually designed through adjustable straps or other materials, so that the user can adjust the tightness of the exoskeleton and the body according to the needs, ensuring the safety and comfort during the rehabilitation process. With fine adjustment and linkage design, the natural movement trajectory of the human shoulder is better simulated, the flexibility and comfort of the upper limb are improved, and the movement obstacles or discomfort caused by improper matching are reduced.
[0028] Similarly, the lower limb linkage secondary component includes left hip-knee linkage adjustment tertiary components, left knee bare linkage adjustment tertiary components, left foot bottom support tertiary components, right hip-knee linkage adjustment tertiary components, right knee bare linkage adjustment tertiary components, right foot bottom support tertiary components, and binding adjustment components. Similarly, the shoulder width and height adjustment tertiary component, the lower limb linkage secondary component also includes hip width and depth adjustment tertiary components, which are respectively provided with mechanical interfaces on both sides of the human body along the coronal axis direction of the human body, realizing the quick disassembly and assembly of the left and right hip-knee linkage adjustment tertiary components. The mechanical interface end connection of the two sides of the hip part is provided with a synchronous reverse adjustment mechanism, the input end of the synchronous reverse adjustment mechanism is provided with a power generation mechanism, and the symmetric movement of the mechanical interfaces of the two sides of the hip part along the coronal axis direction is realized by inputting torque to the synchronous reverse adjustment mechanism, and then the hip width adjustment of different groups of people is adapted.
[0029] Preferably, the left and right hip-knee linkage adjustment tertiary components are matched with the rotation center of the human hip joint of the thigh to set a power mechanism to assist the human body in rotating the thigh; the left and right hip-knee linkage adjustment tertiary components are matched with the rotation center of the human knee joint of the lower leg to set a power / non-power mechanism to assist the human body in rotating the lower leg; the left and right hip-knee linkage adjustment tertiary components are provided with a guide rail type sliding translation mechanism along the vertical axis direction of the human body, and the vertical axis position is fixed through a quick locking mechanism or a mechanism inherent mechanical property; the guide rail type sliding translation mechanism is provided with a power generation mechanism, and the relative movement of the hip-knee joint is realized by inputting torque, and then the lower leg length adjustment of different groups of people is adapted; the guide rail type sliding translation mechanism is matched with the physiological size limit of the human lower leg to set a limit mechanism.
[0030] Preferably, in order to facilitate users to quickly disassemble and adjust the components of the shoulder joint under different needs, a disassembly mechanism is adopted. Specifically, the connection between the left and right shoulder joint components and the motion control component adopts a cam type locking mechanism, which can quickly complete installation and disassembly, and provides self-locking function to ensure that the components will not loosen during use. For more secure fixation, a threaded locking mechanism is used to strengthen the connection by rotating to tighten the components. In addition, in the case of simple and quick fixation, a friction type locking mechanism is used, which quickly fixes the components through clamping force and can effectively avoid loosening caused by collision or vibration. The plunger type locking mechanism is used to ensure the stable connection of the components under external force. The plunger is inserted and released automatically, making the disassembly process more convenient. Through the combined application of these locking mechanisms, the disassembly, adjustment and reconnection can be quickly realized while ensuring safety and stability, greatly improving the operability and flexibility of the overall structure.
[0031] Further, it also includes:
[0032] The left and right shoulder joint movement three-component parts are provided with guide rail type sliding translation mechanisms along the sagittal axis direction of the human body; the left and right shoulder joint movement three-component parts are matched with the large arm rotation center of the human shoulder joint and are provided with power mechanisms to assist the human body in large arm rotation movement; the left and right shoulder joint movement three-component parts are matched with the small arm rotation center of the human elbow joint and are provided with power / non-power mechanisms to assist the human body in small arm rotation movement.
[0033] In an implementable manner, the left and right shoulder joint movement three-component parts are provided with guide rail type sliding translation mechanisms along the sagittal axis direction of the human body, the sagittal axis position is fixed through quick locking mechanisms (including cam type, threaded type, friction type, plunger type, etc.), thereby adapting to the shoulder thickness adjustment of different people; the left and right shoulder joint movement three-component parts are matched with the large arm rotation center of the human shoulder joint and are provided with power mechanisms to assist the human body in large arm rotation movement, the power mechanisms include but are not limited to motors, pneumatic and hydraulic pumps that realize rotation movement through transmission pairs; the left and right shoulder joint movement three-component parts are matched with the small arm rotation center of the human elbow joint and are provided with power / non-power mechanisms to assist the human body in small arm rotation movement.
[0034] Preferably, in order to enhance the flexibility and adaptability of the shoulder joint, especially when simulating the natural movement of the human body, the left and right shoulder joint movement components are provided with guide rail type sliding translation mechanisms, which can accurately control the sliding and translation of the shoulder along the sagittal axis direction of the human body (i.e. the upward and downward direction of the shoulder), thereby realizing the fine tuning and adjustment of the shoulder movement, ensuring that the shoulder movement component can follow the natural movement trajectory of the human body, enhancing the comfort and flexibility.
[0035] In addition, in order to simulate and assist the rotation action of the human shoulder joint, the power mechanism is arranged at the large arm rotation center of the shoulder joint, and the power mechanism provides power through a motor or a servo motor to help the user complete the rotation movement of the large arm, especially in the activity of the upper limbs, which can provide additional support and cooperation to reduce the burden of the user.
[0036] At the elbow, the power / non-power mechanism is used to assist the rotation movement of the small arm, and the power / non-power mechanism provides power or only assists the movement of the elbow joint through non-power assistance as needed, and in the case of requiring additional power support, the power mechanism provides assistance, and in the case of not requiring excessive intervention, the non-power mechanism cooperates with the action of the user through natural joint movement, ensuring the coordinated movement of the elbow and the shoulder, thereby more naturally simulating the movement trajectory of the human body. By accurately controlling the movement of the shoulder joint and combining the power and non-power mechanisms, the movement ability of the shoulder and the elbow is optimized, thereby being more adaptable to the natural action of the human body.
[0037] Further, it includes:
[0038] The mechanical interface end connection at both sides of the shoulder is provided with a synchronous reverse adjustment mechanism, an input end of the synchronous reverse adjustment mechanism is provided with a power generation mechanism; the power generation mechanism is provided with a power transmission mechanism along the vertical axis direction of the human body, a power clutch mechanism is arranged between the power transmission mechanism and the power generation mechanism, and the upper limb linkage secondary component and the motion control center secondary component are independently controlled to move along the vertical axis direction of the human body.
[0039] In an implementable manner, the mechanical interface end connection at both sides of the shoulder is provided with a synchronous reverse adjustment mechanism, including a conical gear pair, a worm gear pair and other asynchronous adjustment mechanisms; the input end of the synchronous reverse adjustment mechanism is provided with a power generation mechanism, including a motor, a manual rotation mechanism and other power generation mechanisms, torque is input to the synchronous reverse adjustment mechanism to realize symmetric movement of the mechanical interfaces at both sides of the shoulder along the coronal axis direction, thereby adapting to the shoulder width adjustment of different people; the power generation mechanism is provided with a power transmission mechanism along the vertical axis direction of the human body, including a gear pair, a screw pair and other power transmission mechanisms; a power clutch mechanism is arranged between the power transmission mechanism and the power generation mechanism, including but not limited to a friction type and a gear type power clutch mechanism, and the upper limb linkage secondary component and the motion control center secondary component are independently controlled to move along the vertical axis direction of the human body.
[0040] Preferably, the mechanical interface end at both sides of the shoulder is provided with a synchronous reverse adjustment mechanism, which can realize synchronous adjustment of both sides in the movement process of the upper limb exoskeleton. After receiving a signal through the input end, the synchronous reverse adjustment mechanism automatically adjusts the movement of the exoskeleton on both sides, so that the actions on both sides remain consistent and avoid uncoordinated movement.
[0041] The power generation mechanism is usually a motor or a servo motor, which is responsible for generating the necessary power to drive the upper limbs. The power is transmitted to the required components through the power transmission mechanism (such as gears, belts, etc.) to drive the movement of the shoulder and the upper limbs. The power transmission mechanism ensures that the power can be effectively transmitted from the generation mechanism to the upper limb linkage component, and the movement is stably controlled.
[0042] In addition, in the process of power transmission, the power clutch mechanism is used to independently control the start and stop of the power; through the clutch mechanism, the power transmission can be interrupted or resumed as needed, so that the exoskeleton can flexibly control the movement; when it is necessary to adjust or stop a certain action, the power clutch mechanism can control it in time, so that the misoperation in the movement process is minimized.
[0043] Through the combination design, the upper limb linkage secondary component and the motion control center secondary component can independently and accurately adjust the motion in the vertical axis direction of the human body, realize the accurate cooperation between the upper limb and the control system, and provide accurate motion support without interfering with the natural motion in the rehabilitation training process, thereby guaranteeing the comfort and effectiveness of the motion.
[0044] Further, it also includes:
[0045] The navigation walking base station primary component includes a support main body secondary component, a height adjustment secondary component, a navigation secondary component, and a base station control system secondary component; the support main body secondary component is provided with a rigid structure; the height adjustment secondary component is provided with a guide rail type sliding translation mechanism along the vertical axis direction of the human body; and the guide rail type sliding translation mechanism is provided with a power generation mechanism.
[0046] In an implementable manner, the intelligent navigation walking base station primary component includes a support main body secondary component, a height adjustment secondary component, a navigation secondary component, and a base station control system secondary component; the support main body is provided with a necessary rigid structure for fastening and supporting the relevant hardware of the intelligent navigation walking base station; the height adjustment secondary component is provided with a guide rail type sliding translation mechanism along the vertical axis direction of the human body, and the vertical axis position is fixed through a quick locking mechanism or a mechanism inherent mechanical property, and the implementation manner includes but is not limited to a screw pair, a sliding sleeve pair, a threaded pair, etc.; the guide rail type sliding translation mechanism is provided with a power generation mechanism including a motor, a manual rotation mechanism, etc., and the relative movement in the vertical axis direction is realized through an input torque, and then the height adjustment of different populations is adapted.
[0047] Preferably, the navigation walking base station primary component includes a support main body secondary component, a height adjustment secondary component, a navigation secondary component, and a base station control system secondary component, the support main body secondary component provides stable support for the navigation walking base station primary component through its rigid structure, and ensures the stability during the operation, especially under the weight condition; the height adjustment secondary component is provided with a guide rail type sliding translation mechanism, so that the navigation walking base station primary component can accurately adjust the height in the vertical axis direction of the human body, thereby adapting to the height of different users; the height adjustment secondary component is provided with a guide rail type sliding translation mechanism along the vertical axis direction of the human body, and the guide rail type sliding translation mechanism makes the height adjustment process more stable and without jamming, and adapts to the needs of different users.
[0048] In order to provide necessary power support, the guide rail type sliding translation mechanism is provided with a power generation mechanism, such as a motor or a hydraulic device, which is responsible for driving the sliding translation mechanism to move up and down. Through the power generation mechanism, the height adjustment secondary component can provide sufficient power when needed, ensuring that the adjustment task can be completed smoothly and efficiently even under heavy load.
[0049] Further, it also includes:
[0050] The guide rail type sliding translation mechanism is provided with a limiting mechanism, which includes a mechanical micro switch, an optical / magnetic / sonic sensing type travel switch.
[0051] In an implementable way, the guide rail type sliding translation mechanism matches the limiting mechanism at the corresponding mechanism of the height limit of the target population, including but not limited to a mechanical micro switch, an optical / magnetic / sonic sensing type travel switch; the guide rail type sliding translation mechanism allows the component to slide smoothly in the vertical direction through the cooperation of the track and the slider, so as to realize height adjustment, which is usually composed of guide rail and sliding device, providing precise translation function.
[0052] Preferably, the guide rail type sliding translation mechanism matches the limiting mechanism at the corresponding mechanism of the height limit of the target population, which limits the movement range of the sliding translation mechanism through the limiting mechanism, ensuring that it does not exceed the predetermined maximum or minimum height, and the limiting mechanism uses various types of travel switches such as mechanical micro switch, optical / magnetic / sonic sensing type travel switch to realize precise displacement limitation. Further, when the sliding translation mechanism moves to the set limit, the limiting mechanism will automatically trigger and stop further movement. For example, the mechanical micro switch can sense whether it has reached the predetermined height limit through the contact action of the sliding component; while the optical / magnetic / sonic sensing type travel switch uses optical or magnetic induction principle to send a signal to stop the action of the sliding mechanism when the component approaches or exceeds the limit. The limiting mechanism ensures that the exoskeleton device will not be accidentally over-adjusted during the adjustment process, ensuring the safety and reliability of the device.
[0053] Further, it also includes:
[0054] The damping mechanism is arranged along the vertical axis of the human body at the workbench of the guide rail type sliding translation mechanism, which is used to match the floating change of the center of gravity along the vertical axis when the human body moves.
[0055] In an implementable manner, the damping mechanism is arranged along the vertical axis of the human body on the guide rail sliding translation mechanism workbench, which is a device that slows down movement by consuming energy. Common damping mechanisms include hydraulic, pneumatic or mechanical spring devices, which are used to control or regulate the speed of movement, reduce impact or vibration. The damping mechanism is used to match the changes in the center of gravity along the vertical axis of the human body during movement.
[0056] When moving, the center of gravity of the human body changes with different postures, gaits or actions. This change needs to be perceived and adapted in real time to ensure that the device is coordinated with the human body movement. Preferably, a damping mechanism is arranged along the vertical axis of the human body to match the changes in the center of gravity during movement, thereby maintaining stability and comfort.
[0057] When the user changes the gait or adjusts the posture, the center of gravity of the human body changes slightly. In order to avoid the impact of these fluctuations on the whole, the damping mechanism buffers and slows down the impact of these changes in the center of gravity by consuming energy during movement. Specifically, when the workbench of the guide rail sliding translation mechanism moves with the center of gravity of the user, the damping mechanism provides appropriate resistance to help adjust and stabilize the position of the workbench. This way can ensure that the user's movement process is more stable, reducing unnecessary vibration or impact.
[0058] Further, it also includes:
[0059] The intelligent navigation secondary component is provided with a multi-source monitoring module for monitoring external environmental changes; the main control unit integrated circuit analyzes and evaluates external environmental changes, and controls and corrects the motion trajectory of the wearable four-limb linkage exoskeleton primary component.
[0060] In an implementable manner, the intelligent navigation secondary component is provided with a plurality of sensors for real-time monitoring of external environmental changes. The multi-source monitoring module includes but is not limited to optical sensors, acoustic sensors, and visual sensors for comprehensive feedback of real-time variables in extreme environments such as depth, transparency, and motion. The main control unit integrated circuit is responsible for analyzing and evaluating external environmental changes, while controlling and correcting the motion trajectory of the wearable four-limb linkage exoskeleton primary component. At the same time, the intelligent navigation secondary component is provided with a storage type direct current power supply and a power supply control module for providing stable power for the navigation walking base station primary component.
[0061] Preferably, the intelligent navigation secondary component is provided with a multi-source monitoring module composed of multiple sensors, which can monitor the surrounding external environment in real time. For example, a visual sensor is used to monitor the moving direction and speed of the user, identify obstacles or uneven ground conditions, and collect and transmit them to the main control unit integrated circuit through the multi-source monitoring module.
[0062] The task of the master control unit integrated circuit is to analyze and evaluate the received environmental data, determine whether the motion trajectory of the exoskeleton needs to be adjusted, for example, if an obstacle is detected, the master control unit integrated circuit will immediately instruct to make an obstacle avoidance action; if the ground is uneven or has a slope, the gait or speed of the motion will be adjusted to ensure the stability and safety of the user. Further, the master control unit integrated circuit not only adjusts the motion trajectory of the device according to the changes in the environment, but also makes immediate responses in different scenarios, for example, on complex terrain, the exoskeleton can flexibly adjust the walking strategy according to the ground conditions; in strong light or low light environment, adjust the way of perceiving the surrounding environment to ensure that the user can always walk smoothly. Through the cooperation of the multi-source monitoring module and the master control unit integrated circuit, real-time perception of environmental changes and adjustment are made, thereby improving the user experience and ensuring the safety of the user during the rehabilitation training process.
[0063] In summary, the embodiments of the present application have at least the following technical effects:
[0064] The present application adopts an intelligent trajectory planning four-limb linkage mobile rehabilitation exoskeleton, which includes a wearable four-limb linkage exoskeleton and a navigation walking base station connected through a false insertion prevention quick release interface; the exoskeleton includes a motion control center, an upper limb and a lower limb linkage component connected through a quick release interface; the motion control center and the upper limb component are provided with a guide rail type sliding translation mechanism and include a master control integrated circuit to control and correct the motion trajectory of the exoskeleton. Through intelligent trajectory planning, four-limb linkage and accurate simulation of natural human motion trajectory, the motion accuracy, comfort, flexibility and coordination of the exoskeleton product are improved, the walking base station is unmanned, a safe and efficient movement path is planned autonomously, ensuring safe and stable movement in different terrains and environments, and ensuring the orderly execution of rehabilitation training.
[0065] The present application is intended to include these modifications and variations.
Claims
1. An intelligent trajectory planning four-limb linkage mobile rehabilitation exoskeleton, characterized in that, Comprise: Wearing four limbs linkage exoskeleton primary component; Navigation walking base station primary component, the navigation walking base station primary component is physically and electrically connected with the wearing four limbs linkage exoskeleton primary component with the anti-insertion quick disassembly mechanical, electrical integrated interface; Wherein, the wearing four limbs linkage exoskeleton primary component comprises a motion control center secondary component, an upper limb linkage secondary component and a lower limb linkage secondary component, the motion control center secondary component is provided with a plurality of quick disassembly mechanical, electrical integrated / separated interfaces, and is physically and electrically connected with the upper limb linkage secondary component and the lower limb linkage secondary component; The motion control center secondary component and the upper limb linkage secondary component are provided with a guide rail type sliding translation mechanism along the vertical axis direction of the human body; The motion control center secondary component is provided with a main control unit integrated circuit, which controls and corrects the motion trajectory of the wearing four limbs linkage exoskeleton primary component.
2. The intelligent trajectory planning four-limb linkage mobile rehabilitation exoskeleton of claim 1, wherein, The upper limb linkage secondary component comprises a shoulder width and height adjusting tertiary component, a left shoulder joint motion tertiary component, a right shoulder joint motion tertiary component and a binding adjusting component; The shoulder width and height adjusting tertiary component is respectively provided with a mechanical interface along the coronal axis direction of the human body on both sides of the human body.
3. The intelligent trajectory planning four-limb linkage mobile rehabilitation exoskeleton of claim 2, wherein, The mechanical interface and the left and right shoulder joint motion tertiary component are combined with a disassembly mechanism, which comprises a cam type locking mechanism, a threaded type locking mechanism, a friction type locking mechanism and a plunger type locking mechanism.
4. The intelligent trajectory planning four-limb linkage mobile rehabilitation exoskeleton of claim 3, wherein, The left and right shoulder joint motion tertiary component is provided with a guide rail type sliding translation mechanism along the sagittal axis direction of the human body; The left and right shoulder joint motion tertiary component matches the center of the human body shoulder joint large arm rotation and is provided with a power mechanism to assist the human body to rotate the large arm; The left and right shoulder joint motion tertiary component matches the center of the human body elbow joint small arm rotation and is provided with a power / non-power mechanism to assist the human body to rotate the small arm.
5. The intelligent trajectory planning four-limb linkage mobile rehabilitation exoskeleton of claim 1, wherein, Comprise: The mechanical interface end connection at both sides of the shoulder is provided with a synchronous reverse adjusting mechanism, and the input end of the synchronous reverse adjusting mechanism is provided with a power generation mechanism; The power generation mechanism is provided with a power transmission mechanism along the vertical axis direction of the human body, and a power clutch mechanism is arranged between the power transmission mechanism and the power generation mechanism, which independently controls the motion of the upper limb linkage secondary component and the motion control center secondary component along the vertical axis direction of the human body.
6. The intelligent trajectory planning four-limb linkage mobile rehabilitation exoskeleton of claim 5, wherein, The navigation walking base station primary component comprises a support main body secondary component, a height adjusting secondary component, a navigation secondary component and a base station control system secondary component; The support main body secondary component is provided with a rigid structure; The height adjusting secondary component is provided with a guide rail type sliding translation mechanism along the vertical axis direction of the human body; The guide rail type sliding translation mechanism is provided with a power generation mechanism.
7. The intelligent trajectory planning four-limb linkage mobile rehabilitation exoskeleton of claim 6, wherein, The guide rail type sliding translation mechanism is provided with a limit mechanism, and the limit mechanism comprises a mechanical micro switch, an optical / magnetic / sonic sensing travel switch.
8. The intelligent trajectory planning four-limb linkage mobile rehabilitation exoskeleton of claim 7, wherein, The workbench of the guide rail type sliding translation mechanism is provided with a damping mechanism along the vertical axis direction of the human body, which is used to match the floating change of the center of gravity along the vertical axis direction when the human body moves.
9. The intelligent trajectory planning four-limb linkage mobile rehabilitation exoskeleton of claim 6, wherein, The navigation secondary component is provided with a multi-source monitoring module, which is used to monitor the external environment change; The master control unit integrated circuit analyzes and evaluates external environmental changes, while controlling and correcting the motion trajectory of the primary components of the wearable four-limb linked exoskeleton.