技术领域Technical Field
本发明属于下肢外骨骼装置技术领域，涉及一种用于康复助力的下肢动力外骨骼装置。The present invention belongs to the technical field of lower limb exoskeleton devices, and relates to a lower limb powered exoskeleton device for assisting rehabilitation.
背景技术Background Art
由于脑卒中、脑损伤、脊髓损伤以及生理或病理性老化，导致神经系统疾病患者或老年人存在不同程度的运动功能障碍，生活质量明显下降，因此，存在运动功能障碍的人群在运动康复方面存在大量需求。Due to stroke, brain injury, spinal cord injury, and physiological or pathological aging, patients with neurological diseases or the elderly have varying degrees of motor dysfunction and a significantly reduced quality of life. Therefore, people with motor dysfunction have a great demand for sports rehabilitation.
为了满足上述人群的需求，研究人员和康复医疗公司研发了多款下肢康复外骨骼装置，用于帮助运动功能受损的人群进行康复训练，如中风患者和老年人的康复训练。但现有下肢康复外骨骼装置存在诸多问题，在工程实用性方面与穿戴者的预期方面存在较大差异，从而导致下肢外骨骼不能得到广泛的推广应用。In order to meet the needs of the above-mentioned groups, researchers and rehabilitation medical companies have developed a number of lower limb rehabilitation exoskeleton devices to help people with impaired motor function to conduct rehabilitation training, such as stroke patients and the elderly. However, existing lower limb rehabilitation exoskeleton devices have many problems, and there is a large difference between their engineering practicality and the wearer's expectations, which has led to the fact that lower limb exoskeletons cannot be widely promoted and applied.
现有下肢外骨骼在灵活度和重量之间的平衡失调，例如，为增加灵活度而增加更多驱动装置，使得下肢康复外骨骼的整备质量过大，且需要有专业人员帮助穿戴，导致用户无法独立使用下肢外骨骼装置，并且影响穿戴用户时间和舒适性，运动康复效果不理想。有些下肢外骨骼康复机器人为减轻质量，无法帮助用户完成复杂动作，降低了用户使用下肢外骨骼的灵活性。现有的下肢外骨骼大都不能主动实现转弯行走功能，这会明显降低穿戴者在日常生活中的使用体验和实用性，Existing lower limb exoskeletons are out of balance between flexibility and weight. For example, adding more drive devices to increase flexibility makes the curb weight of the lower limb rehabilitation exoskeleton too large, and requires professional help to wear. As a result, users cannot use the lower limb exoskeleton device independently, and the wearing time and comfort of users are affected, resulting in unsatisfactory sports rehabilitation effects. In order to reduce weight, some lower limb exoskeleton rehabilitation robots cannot help users complete complex movements, which reduces the flexibility of users in using lower limb exoskeletons. Most existing lower limb exoskeletons cannot actively realize the turning and walking function, which will significantly reduce the wearer's experience and practicality in daily life.
发明内容Summary of the invention
有鉴于此，本发明提供一种用于康复助力的下肢动力外骨骼装置，针对下肢各个关节的运动特点，采用仿生设计提出了智能关节驱动器，从而大大降低关节驱动器的功耗，同时简化控制器的质量和控制难度，提高装置的工程实用性能。同时，本发明在下肢外骨骼的主动转弯方面进行了改进，通过在水平面巧妙的引入自由度和对应驱动器实现外骨骼的转弯运动。In view of this, the present invention provides a lower limb powered exoskeleton device for rehabilitation assistance. Aiming at the movement characteristics of each joint of the lower limb, an intelligent joint driver is proposed by adopting a bionic design, thereby greatly reducing the power consumption of the joint driver, simplifying the quality and control difficulty of the controller, and improving the engineering practical performance of the device. At the same time, the present invention has made improvements in the active turning of the lower limb exoskeleton, and the turning movement of the exoskeleton is realized by ingeniously introducing degrees of freedom and corresponding drivers in the horizontal plane.
为了解决上述问题，本发明的实施例提供了一种用于康复助力的下肢动力外骨骼装置，其特殊之处在于，包括：In order to solve the above problems, an embodiment of the present invention provides a lower limb powered exoskeleton device for rehabilitation assistance, which is special in that it includes:
踝关节矢状面驱动单元，该驱动单元为主动驱动单元、半被动驱动单元、和被动驱动单元中的一种，实现踝关节在矢状面的关节驱动；An ankle joint sagittal plane drive unit, which is one of an active drive unit, a semi-passive drive unit, and a passive drive unit, and realizes joint drive of the ankle joint in the sagittal plane;
膝关节矢状面驱动单元，该驱动单元为主动驱动单元和半被动驱动单元中的一种，实现膝关节在矢状面的关节驱动；A knee joint sagittal plane drive unit, which is one of an active drive unit and a semi-passive drive unit, and realizes joint drive of the knee joint in the sagittal plane;
髋关节矢状面驱动单元，该驱动单元为主动驱动单元，实现髋关节在矢状面的关节驱动；Hip joint sagittal plane drive unit, which is an active drive unit to achieve joint drive of the hip joint in the sagittal plane;
髋关节水平面驱动单元，该驱动单元为主动驱动单元和被动驱动单元，实现髋关节在水平面的关节驱动；Hip joint horizontal plane drive unit, which is an active drive unit and a passive drive unit, realizing joint drive of the hip joint in the horizontal plane;
关节驱动器连接框架，包括腰部连接框架、大腿连接框架和小腿连接框架，该关节驱动器连接框架将所述踝关节矢状面驱动单元、膝关节矢状面驱动单元、髋关节矢状面驱动单元和髋关节水平面驱动单元连接固定；A joint driver connection frame, comprising a waist connection frame, a thigh connection frame and a calf connection frame, the joint driver connection frame connects and fixes the ankle joint sagittal plane drive unit, the knee joint sagittal plane drive unit, the hip joint sagittal plane drive unit and the hip joint horizontal plane drive unit;
下肢固定支架，包括腰部固定支架、大腿固定支架、小腿固定支架和脚掌固定支架，所述下肢固定支架用于将所述外骨骼装置穿戴者的腰部、下肢大腿、小腿、和脚板与所述外骨骼装置固定；A lower limb fixing bracket, comprising a waist fixing bracket, a thigh fixing bracket, a calf fixing bracket and a sole fixing bracket, wherein the lower limb fixing bracket is used to fix the waist, lower limb thigh, calf and sole of the foot of the wearer of the exoskeleton device to the exoskeleton device;
传感器，所述传感器安装在所述外骨骼装置和外骨骼装置穿戴者身上，用于检测外骨骼的运动状态和解码外骨骼穿戴者的运动意图；A sensor, the sensor being mounted on the exoskeleton device and the exoskeleton device wearer, and being used to detect the motion state of the exoskeleton and decode the motion intention of the exoskeleton wearer;
控制器，用于控制所述踝关节矢状面驱动单元、膝关节矢状面驱动单元、髋关节矢状面驱动单元和髋关节水平面驱动单元的运动角度、角速度和输出力矩；A controller, used to control the movement angle, angular velocity and output torque of the ankle joint sagittal plane drive unit, the knee joint sagittal plane drive unit, the hip joint sagittal plane drive unit and the hip joint horizontal plane drive unit;
电源，用于为所述外骨骼装置的驱动单元、传感器和控制器供电。A power supply is used to supply power to the drive unit, sensors and controller of the exoskeleton device.
进一步地，所述腰部固定支架固定在腰部连接框架上，所述大腿固定支架固定在大腿连接框架上，所述小腿固定支架固定在小腿连接框架上，所述脚掌固定支架通过踝关节矢状面驱动单元与小腿连接框架连接。Furthermore, the waist fixing bracket is fixed on the waist connecting frame, the thigh fixing bracket is fixed on the thigh connecting frame, the calf fixing bracket is fixed on the calf connecting frame, and the sole fixing bracket is connected to the calf connecting frame through an ankle joint sagittal plane driving unit.
进一步地，所述的腰部连接框架与大腿连接框架通过平面铰链连接和球面连接中的一种，所述大腿连接框架与小腿连接框架通过平面铰链连接。Furthermore, the waist connection frame and the thigh connection frame are connected by one of a plane hinge connection and a spherical connection, and the thigh connection frame and the calf connection frame are connected by a plane hinge.
进一步地，所述髋关节矢状面驱动单元由两个拮抗布置的直线驱动器驱动，所述直线驱动器包含直流电机，直流电机配合螺纹丝杆传动，同时具备位移反馈和力反馈，所述直线驱动器与腰部连接框架和大腿连接框架形成曲柄滑块结构，可主动控制所述髋关节在矢状面的转动角度、角速度和关节力矩。Furthermore, the hip joint sagittal plane drive unit is driven by two antagonistically arranged linear drives, which include a DC motor, which cooperates with a threaded screw for transmission and has displacement feedback and force feedback. The linear drive forms a crank slider structure with the waist connecting frame and the thigh connecting frame, which can actively control the rotation angle, angular velocity and joint torque of the hip joint in the sagittal plane.
进一步地，所述髋关节水平状面驱动单元为主动驱动单元，该驱动单元由两个拮抗布置的直线驱动器驱动，所述直线驱动器包含直流电机，直流电机配合螺纹丝杆传动，同时具备位移反馈和力反馈，所述直线驱动器与腰部连接框架和大腿连接框架形成曲柄滑块结构，可主动控制所述髋关节在水平面的转动角度、角速度和关节力矩，实现转弯运动，所述的螺纹丝杆传动具有电机断电自锁功能。Furthermore, the hip joint horizontal plane driving unit is an active driving unit, which is driven by two antagonistically arranged linear drives. The linear drive includes a DC motor, which cooperates with a threaded screw transmission and has displacement feedback and force feedback. The linear drive forms a crank slider structure with the waist connecting frame and the thigh connecting frame, which can actively control the rotation angle, angular velocity and joint torque of the hip joint in the horizontal plane to achieve turning movement. The threaded screw transmission has a self-locking function when the motor is powered off.
进一步地，所述髋关节水平面驱动单元为被动驱动单元，该被动驱动单元由回复弹簧驱动，可使所述腰部连接框架和所述大腿连接框架回到初始相对位置，所述外骨骼装置在所述外骨骼装置穿戴者的主动驱动下能实现水平面内的转动。Furthermore, the hip joint horizontal plane driving unit is a passive driving unit, which is driven by a return spring, and can return the waist connection frame and the thigh connection frame to their initial relative positions. The exoskeleton device can achieve rotation in the horizontal plane under the active drive of the wearer of the exoskeleton device.
所述被动驱动单元中的回复弹簧为线性弹簧、扭转弹簧和气动弹簧中的一种。The return spring in the passive drive unit is one of a linear spring, a torsion spring and a pneumatic spring.
进一步地，所述膝关节矢状面驱动单元为主动驱动单元，该驱动单元由两个拮抗布置的直线驱动器驱动，所述直线驱动器包含直流电机，直流电机配合螺纹丝杆传动，同时具备位移反馈和力反馈，直线驱动器与大腿连接框架和小腿连接框架形成曲柄滑块结构，可主动控制所述膝关节在矢状面的转动角度、角速度和关节力矩。Furthermore, the knee joint sagittal plane drive unit is an active drive unit, which is driven by two antagonistically arranged linear drives. The linear drive includes a DC motor, which cooperates with a threaded screw for transmission and has displacement feedback and force feedback. The linear drive forms a crank slider structure with the thigh connecting frame and the calf connecting frame, which can actively control the rotation angle, angular velocity and joint torque of the knee joint in the sagittal plane.
进一步地，所述膝关节矢状面驱动单元为主动驱动单元，该驱动单元由拮抗布置的直线驱动单元和磁控阻尼器驱动，所述直线驱动器包含直流电机，直流电机配合螺纹丝杆传动，同时具备位移反馈和力反馈，与大腿连接框架和小腿连接框架形成曲柄滑块结构，可主动控制所述膝关节在矢状面的转动角度、角速度和关节力矩，所述磁控阻尼器与与大腿连接框架和小腿连接框架形成曲柄滑块结构，通过控制所述磁控阻尼器的励磁电流，可被动控制所述膝关节在矢状面的转动角度、角速度和关节力矩。Furthermore, the sagittal plane drive unit of the knee joint is an active drive unit, which is driven by an antagonistically arranged linear drive unit and a magnetically controlled damper. The linear drive includes a DC motor, which cooperates with a threaded screw transmission and has displacement feedback and force feedback. It forms a crank slider structure with the thigh connecting frame and the calf connecting frame, and can actively control the rotation angle, angular velocity and joint torque of the knee joint in the sagittal plane. The magnetically controlled damper forms a crank slider structure with the thigh connecting frame and the calf connecting frame. By controlling the excitation current of the magnetically controlled damper, the rotation angle, angular velocity and joint torque of the knee joint in the sagittal plane can be passively controlled.
进一步地，所述膝关节矢状面驱动单元为半被动驱动单元，由磁控阻尼器驱动配合回复弹簧驱动，所述回复弹簧可驱动所述膝关节在矢状面伸展回复到初始位置，所述磁控阻尼器与大腿连接框架和小腿连接框架形成曲柄滑块结构，通过控制所述磁控阻尼器的励磁电流，可被动控制所述膝关节在矢状面弯曲和伸展时的转动角度、角速度和关节力矩。Furthermore, the knee joint sagittal plane drive unit is a semi-passive drive unit, which is driven by a magnetically controlled damper and a return spring. The return spring can drive the knee joint to return to its initial position in sagittal plane extension. The magnetically controlled damper forms a crank slider structure with the thigh connecting frame and the calf connecting frame. By controlling the excitation current of the magnetically controlled damper, the rotation angle, angular velocity and joint torque of the knee joint in sagittal plane bending and extension can be passively controlled.
进一步地，所述踝关节矢状面驱动单元为主动驱动单元，该主动驱动单元由直流电机配合齿轮减速器和谐波减速器中一种组成，能主动控制所述踝关节在矢状面的转动角度、角速度、和输出力矩。Furthermore, the ankle joint sagittal plane drive unit is an active drive unit, which is composed of a DC motor and one of a gear reducer and a harmonic reducer, and can actively control the rotation angle, angular velocity, and output torque of the ankle joint in the sagittal plane.
进一步地，所述踝关节矢状面驱动单元为半被动单元，该半被动制动器由磁控阻尼器驱动配合回复弹簧驱动，所述回复弹簧驱动膝关节在矢状面伸展回复到初始位置，所述磁控阻尼器与与小腿连接框架和脚掌固定支架形成曲柄滑块结构，其中小腿连接框架与所述脚掌固定支架通过平面铰链连接，通过控制所述磁控阻尼器的励磁电流，可被动控制所述踝关节在矢状面弯曲和伸展时的转动角度、角速度和关节力矩。Furthermore, the ankle joint sagittal plane drive unit is a semi-passive unit, which is driven by a magnetically controlled damper in cooperation with a return spring, and the return spring drives the knee joint to return to its initial position in the sagittal plane extension. The magnetically controlled damper forms a crank slider structure with the calf connection frame and the sole fixing bracket, wherein the calf connection frame and the sole fixing bracket are connected by a planar hinge, and by controlling the excitation current of the magnetically controlled damper, the rotation angle, angular velocity and joint torque of the ankle joint in sagittal plane bending and extension can be passively controlled.
进一步地，所述踝关节矢状面驱动单元为被动驱动单元，该被动驱动单元包括回复弹簧组成，所述回复弹簧可帮助小腿连接框架与脚掌固定支架的相对角度回到初始位置，所述小腿连接框架与所述脚掌固定支架通过平面铰链连接。Furthermore, the ankle joint sagittal plane drive unit is a passive drive unit, which includes a return spring. The return spring can help the relative angle between the calf connecting frame and the sole fixing bracket return to an initial position. The calf connecting frame and the sole fixing bracket are connected by a plane hinge.
所述被动驱动单元中的回复弹簧为线性弹簧、扭转弹簧和气动弹簧中的一种。The return spring in the passive drive unit is one of a linear spring, a torsion spring and a pneumatic spring.
进一步地，所述下肢固定支架用于将下肢外骨骼装置与下肢外骨骼装置穿戴者固定，为提高穿戴舒适性，使固定牢固，同时降低接触应力集中，所述下肢固定支架在部分承力区采用负泊松比智能结构单元制备。Furthermore, the lower limb fixation bracket is used to fix the lower limb exoskeleton device to the wearer of the lower limb exoskeleton device. In order to improve wearing comfort, make the fixation firm, and reduce contact stress concentration, the lower limb fixation bracket is prepared using negative Poisson's ratio intelligent structural units in some load-bearing areas.
进一步地，所述下肢固定支架的内表面集成有曲面压力测量单元，该压力测量单元测量下肢外骨骼装置与下肢外骨骼装置穿戴者间的接触应力，所测量的接触应力可用于量化下肢固定支架的穿戴舒适性，同时可用于解码下肢外骨骼穿戴者的运动意图。Furthermore, a curved surface pressure measurement unit is integrated on the inner surface of the lower limb fixation bracket, and the pressure measurement unit measures the contact stress between the lower limb exoskeleton device and the wearer of the lower limb exoskeleton device. The measured contact stress can be used to quantify the wearing comfort of the lower limb fixation bracket, and can also be used to decode the movement intention of the wearer of the lower limb exoskeleton.
进一步地，所述传感器包括下肢肌电传感器(EMG)、各个关节角度传感器、下肢固定支架上分布的压力传感器、下肢固定支架上分布的压力测量单元，以及安装在下肢脚掌、小腿、大腿、腰部的惯性测量单元(I MU)等。Furthermore, the sensors include lower limb electromyography sensors (EMG), joint angle sensors, pressure sensors distributed on lower limb fixation brackets, pressure measurement units distributed on lower limb fixation brackets, and inertial measurement units (IMU) installed on the soles of the feet, calves, thighs, and waist of the lower limbs.
进一步地，所述下肢肌电传感器(EMG)用于检测下肢外骨骼穿戴者的肌肉的肌电信号，从而解码穿戴者的运动意图，量化穿戴的康复效果，同时检测下肢的肌肉运动疲劳等信息。Furthermore, the lower limb electromyographic sensor (EMG) is used to detect the electromyographic signals of the muscles of the lower limb exoskeleton wearer, thereby decoding the wearer's movement intention, quantifying the rehabilitation effect of the wearer, and detecting information such as lower limb muscle movement fatigue.
下肢固定支架上分布的压力测量单元用于检测上述外骨骼和穿戴者肢体之间的相互作用力和作用力矩，包括固定支架和用户大腿和小腿之间的相互作用力和作用力矩，以及用户跖底和下肢外骨骼足底支撑板之间的相互作用力和作用力矩；惯性测量单元用于反馈下肢外骨骼装置运动信息，包括运动方向、运动速度、运动加速度，角度，角速度。The pressure measurement units distributed on the lower limb fixed bracket are used to detect the interaction force and torque between the above-mentioned exoskeleton and the wearer's limbs, including the interaction force and torque between the fixed bracket and the user's thigh and calf, and the interaction force and torque between the user's plantar surface and the plantar support plate of the lower limb exoskeleton; the inertial measurement unit is used to feedback the motion information of the lower limb exoskeleton device, including motion direction, motion speed, motion acceleration, angle, and angular velocity.
所述控制器基于角度传感器、压力传感器、肌电信号检测传感器获取的信号识别用户的运动意图，进一步控制下肢外骨骼装置的各个直流电机和阻尼器的输出力矩，从而控制下肢外骨骼装置的髋关节、膝关节、踝关节、大腿和小腿结构的运动轨迹和运动姿态。The controller recognizes the user's movement intention based on the signals obtained by the angle sensor, pressure sensor, and electromyographic signal detection sensor, and further controls the output torque of each DC motor and damper of the lower limb exoskeleton device, thereby controlling the movement trajectory and movement posture of the hip joint, knee joint, ankle joint, thigh and calf structure of the lower limb exoskeleton device.
所述压力传感器安装到固定支架内侧和足底支撑板，用于测量用户与固定支架之间的相互作用力和用户与地面之间的相互作用力。The pressure sensor is installed on the inner side of the fixing bracket and the sole support plate, and is used to measure the interaction force between the user and the fixing bracket and the interaction force between the user and the ground.
所述控制器用于控制下肢外骨骼装置的髋关节、膝关节和踝关节按照设定的方向、角度，角速度，角加速度进行旋转，控制大腿结构和小腿结构按照设定的位姿进行摆动，同时控制所述固定支架和所述下肢外骨骼装置穿戴者之间的相互作用力和作用力矩。The controller is used to control the hip joint, knee joint and ankle joint of the lower limb exoskeleton device to rotate according to the set direction, angle, angular velocity and angular acceleration, control the thigh structure and calf structure to swing according to the set posture, and at the same time control the interaction force and torque between the fixed bracket and the wearer of the lower limb exoskeleton device.
与现有技术相比，本发明的用于康复助力的下肢动力外骨骼装置至少具有下列有益效果：Compared with the prior art, the lower limb powered exoskeleton device for rehabilitation assistance of the present invention has at least the following beneficial effects:
1)下肢动力外骨骼装置用于帮助下肢运动功能受损患者，如下肢中风患者等实现行走康复训练，使下肢各个关节实现对应的运动功能，向患者提供助力，使患者更加轻松地完成站立，行走，转身，坐下等动作；1) The lower limb powered exoskeleton device is used to help patients with impaired lower limb motor function, such as lower limb stroke patients, to achieve walking rehabilitation training, so that each joint of the lower limb can achieve the corresponding motor function, provide assistance to the patient, and make it easier for the patient to complete standing, walking, turning, sitting and other movements;
2)该下肢动力外骨骼装置针对下肢各个关节的运动特点，采用仿生设计提出了智能关节驱动器，从而大大降低关节驱动器的功耗，同时简化控制器的质量和控制难度，提高装置的工程实用性能；同时，本发明在下肢外骨骼的主动转弯方面进行了改进，通过在水平面巧妙的引入自由度和对应驱动器实现外骨骼的转弯运动；2) The lower limb powered exoskeleton device adopts bionic design to propose intelligent joint drivers based on the movement characteristics of each joint of the lower limbs, thereby greatly reducing the power consumption of the joint drivers, simplifying the quality and control difficulty of the controller, and improving the engineering practical performance of the device; at the same time, the present invention improves the active turning of the lower limb exoskeleton, and realizes the turning movement of the exoskeleton by ingeniously introducing degrees of freedom and corresponding drivers in the horizontal plane;
3)该下肢动力外骨骼装置的髋关节的矢状面采用了拮抗驱动的直线驱动单元驱动实现髋关节的弯曲与伸展运动，髋关节的水平面采用了具有断电自锁功能的直线驱动单元实现外骨骼的转弯运动；膝关节的矢状面采用了直线驱动单元配合磁流变制动器，该驱动方式可明显降低膝关节驱动器的功耗同时简化控制难度；此外，为提高外骨骼装置与穿戴者的人机交互性能，对外骨骼下肢固定支架进行了改进，引入了智能结构单元和曲面应力检测。该动力外骨骼装置主要用于帮助下肢运动功能受损患者，如下肢中风患者，等实现行走康复训练。3) The sagittal plane of the hip joint of the lower limb powered exoskeleton device uses an antagonistically driven linear drive unit to achieve the flexion and extension of the hip joint, and the horizontal plane of the hip joint uses a linear drive unit with a power-off self-locking function to achieve the turning movement of the exoskeleton; the sagittal plane of the knee joint uses a linear drive unit with a magnetorheological brake, which can significantly reduce the power consumption of the knee joint driver while simplifying the control difficulty; in addition, in order to improve the human-computer interaction performance between the exoskeleton device and the wearer, the exoskeleton lower limb fixed bracket has been improved, and an intelligent structural unit and curved surface stress detection have been introduced. The powered exoskeleton device is mainly used to help patients with impaired lower limb motor function, such as lower limb stroke patients, to achieve walking rehabilitation training.
上述说明仅是本发明技术方案的概述，为了能够更清楚了解本发明的技术手段，并可依照说明书的内容予以实施，以下以本发明的较佳实施例并配合附图详细说明如后。The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention and implement it according to the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention in conjunction with the accompanying drawings.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
为了更清楚地说明本发明实施例技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.
图1为本发明正面整体结构示意图；FIG1 is a schematic diagram of the overall structure of the present invention from the front;
图2为本发明背面整体结构示意图；FIG2 is a schematic diagram of the overall structure of the back side of the present invention;
图3为本发明侧面整体结构示意图；FIG3 is a schematic diagram of the overall structure of the side surface of the present invention;
图4为本发明中髋关节水平面主动驱动单元结构示意图；FIG4 is a schematic diagram of the structure of the active driving unit for the horizontal plane of the hip joint in the present invention;
图5为本发明中髋关节水平面被动驱动单元结构示意图；FIG5 is a schematic diagram of the structure of the passive driving unit for the horizontal plane of the hip joint in the present invention;
图6为本发明中髋关节矢状面主动驱动单元结构和运动示意图；FIG6 is a schematic diagram of the structure and movement of the active driving unit of the hip joint sagittal plane in the present invention;
图7为本发明中膝关节矢状面主动驱动单元结构示意图；FIG7 is a schematic diagram of the structure of the sagittal plane active driving unit of the knee joint in the present invention;
图8为本发明中膝关节矢状面被动驱动单元结构示意图；FIG8 is a schematic diagram of the structure of the passive driving unit of the sagittal plane of the knee joint in the present invention;
图9为本发明踝关节矢状面主动驱动单元结构示意图；FIG9 is a schematic diagram of the structure of the active driving unit of the ankle joint sagittal plane of the present invention;
图10为本发明中踝关节矢状面半被动驱动单元结构示意图；FIG10 is a schematic diagram of the structure of the semi-passive driving unit of the ankle joint sagittal plane in the present invention;
图11为本发明中踝关节矢状面被动驱动单元结构示意图；FIG11 is a schematic diagram of the structure of the passive driving unit of the sagittal plane of the ankle joint in the present invention;
图12为本发明中大腿下肢固定支架示意图；FIG12 is a schematic diagram of a thigh and lower limb fixing bracket according to the present invention;
图13为本发明中直线驱动器结构示意图；FIG13 is a schematic diagram of the structure of a linear actuator in the present invention;
图14为本发明中磁控阻尼驱动器结构示意图；FIG14 is a schematic diagram of the structure of a magnetically controlled damping driver in the present invention;
图15为本发明中回复弹簧驱动器结构示意图；FIG15 is a schematic diagram of the structure of the return spring driver in the present invention;
图16为用于康复助力的下肢动力外骨骼装置一个完整步态周期运动示意图；FIG16 is a schematic diagram of a complete gait cycle motion of a lower limb powered exoskeleton device for rehabilitation assistance;
图17为人体完整步态周期髋关节、膝关节和踝关节矢状面角度变化示意图(地面测力板上行走)；FIG17 is a schematic diagram of the sagittal plane angle changes of the hip joint, knee joint and ankle joint during a complete gait cycle of a human body (walking on a ground force plate);
图18为人体完整步态周期髋关节、膝关节和踝关节关节力矩变化示意图(地面测力板上行走)；FIG18 is a schematic diagram of the changes in joint torques of the hip joint, knee joint and ankle joint during a complete gait cycle of a human body (walking on a ground force plate);
图19为人体完整步态周期髋关节、膝关节和踝关节关节功率变化示意图(地面测力板上行走)；FIG19 is a schematic diagram of the joint power changes of the hip joint, knee joint and ankle joint during a complete gait cycle of a human body (walking on a ground force plate);
图20为人体步态周期地面测力板反作用力变化示意图(正常人在地面测力板上行走)；FIG20 is a schematic diagram of the change in the reaction force of the ground force plate during the human gait cycle (a normal person walks on the ground force plate);
其中：1、控制背包；2、腰部固定支架；3、大腿固定支架；4、第三直流电机4；5、第七直流电机；6、小腿固定支架；7、第九直流电机；8、第五直流电机；9、第八直流电机；10、第十直流电机；11、第一直流电机；12、第四直流电机；13、第一磁控阻尼器；14、第二直流电机；15、第六直流电机；16、第二磁控阻尼器；17、限位器；18、螺纹丝杆；19、力传感器；20、磁流变液阀；21、磁流变液导流管；22、液压缸；23、回复弹簧；24、柔性压力传感器；25、负泊松比智能结构单元。Among them: 1. control backpack; 2. waist fixing bracket; 3. thigh fixing bracket; 4. third DC motor 4; 5. seventh DC motor; 6. calf fixing bracket; 7. ninth DC motor; 8. fifth DC motor; 9. eighth DC motor; 10. tenth DC motor; 11. first DC motor; 12. fourth DC motor; 13. first magnetically controlled damper; 14. second DC motor; 15. sixth DC motor; 16. second magnetically controlled damper; 17. limiter; 18. threaded screw; 19. force sensor; 20. magnetorheological fluid valve; 21. magnetorheological fluid guide tube; 22. hydraulic cylinder; 23. return spring; 24. flexible pressure sensor; 25. negative Poisson's ratio intelligent structural unit.
具体实施方式DETAILED DESCRIPTION
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解,此处所描述的具体实施例仅用以解释本发明，并不用于限定本发明。本发明意图更普遍地应用于康复外骨骼机器人中，因此本发明可用于具有适于具体应用所需的任何实际应用中。In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. The present invention is intended to be more generally applied to rehabilitation exoskeleton robots, so the present invention can be used in any practical application that is suitable for a specific application.
本发明提出一种用于康复助力的下肢动力外骨骼装置，该下肢外骨骼装置硬件部分包括：髋关节水平面驱动单元、髋关节矢状面驱动单元、膝关节矢状面驱动单元、踝关节矢状面驱动单元、关节驱动器连接框架、下肢固定支架、传感器、控制器和电源。The present invention proposes a lower limb powered exoskeleton device for rehabilitation assistance, the hardware part of the lower limb exoskeleton device includes: a hip joint horizontal plane drive unit, a hip joint sagittal plane drive unit, a knee joint sagittal plane drive unit, an ankle joint sagittal plane drive unit, a joint driver connection frame, a lower limb fixing bracket, a sensor, a controller and a power supply.
所述踝关节矢状面驱动单元用于实现踝关节在矢状面的关节驱动；膝关节矢状面驱动单元实现膝关节在矢状面的关节驱动；髋关节矢状面驱动单元实现髋关节在矢状面的关节驱动；髋关节水平面驱动单元实现髋关节在水平面的关节驱动。The ankle joint sagittal plane drive unit is used to realize the joint drive of the ankle joint in the sagittal plane; the knee joint sagittal plane drive unit realizes the joint drive of the knee joint in the sagittal plane; the hip joint sagittal plane drive unit realizes the joint drive of the hip joint in the sagittal plane; and the hip joint horizontal plane drive unit realizes the joint drive of the hip joint in the horizontal plane.
所述关节驱动器连接框架包括腰部连接框架、大腿连接框架和小腿连接框架，该关节驱动器连接框架将踝关节矢状面驱动单元、膝关节矢状面驱动单元、髋关节矢状面驱动单元和髋关节水平面驱动单元连接固定。The joint driver connection frame comprises a waist connection frame, a thigh connection frame and a calf connection frame, and the joint driver connection frame connects and fixes an ankle joint sagittal plane drive unit, a knee joint sagittal plane drive unit, a hip joint sagittal plane drive unit and a hip joint horizontal plane drive unit.
所述下肢固定支架包括腰部固定支架、大腿固定支架、小腿固定支架和脚掌固定支架，所述下肢固定支架用于将所述外骨骼装置穿戴者的腰部、下肢大腿、小腿、和脚板与所述外骨骼装置固定。所述传感器安装在所述外骨骼装置和外骨骼装置穿戴者身上，用于检测外骨骼的运动状态和解码外骨骼穿戴者的运动意图；控制器用于控制所述踝关节矢状面驱动单元、膝关节矢状面驱动单元、髋关节矢状面驱动单元和髋关节水平面驱动单元的运动角度、角速度和输出力矩；电源用于为所述外骨骼装置的驱动单元、传感器和控制器供电。The lower limb fixing bracket includes a waist fixing bracket, a thigh fixing bracket, a calf fixing bracket and a sole fixing bracket, and the lower limb fixing bracket is used to fix the waist, lower limb thigh, calf and sole of the wearer of the exoskeleton device to the exoskeleton device. The sensor is installed on the exoskeleton device and the wearer of the exoskeleton device, and is used to detect the movement state of the exoskeleton and decode the movement intention of the wearer of the exoskeleton; the controller is used to control the movement angle, angular velocity and output torque of the ankle joint sagittal plane drive unit, the knee joint sagittal plane drive unit, the hip joint sagittal plane drive unit and the hip joint horizontal plane drive unit; the power supply is used to supply power to the drive unit, sensor and controller of the exoskeleton device.
具体地，参见图1，控制背包1通过连接件安装至背部支撑板的固定位置，控制背包内设有信号处理模块、控制器、驱动模块和电源。背部支撑板固定在腰部固定支架2上。Specifically, referring to Fig. 1, the control backpack 1 is installed to a fixed position of the back support plate through a connector, and a signal processing module, a controller, a drive module and a power supply are arranged in the control backpack. The back support plate is fixed on the waist fixing bracket 2.
作为本发明的一个优选实施例，髋关节水平面驱动单元可以为主动驱动单元，也可以为被动驱动单元，As a preferred embodiment of the present invention, the hip joint horizontal plane driving unit may be an active driving unit or a passive driving unit.
具体地，参见图2和图4，所述髋关节水平面驱动单元为主动驱动单元时，所述髋关节水平面主动驱动单元由两个拮抗布置的直线驱动器构成，参见图13，两个直线驱动器分别由第一直流电机11配合螺纹丝杆18传动和第二直流电机14配合螺纹丝杆18传动组成，直线驱动器通过关节轴承分别连接腰部固定支架2和腰部连接框架，构成曲柄滑块结构，第一直流电机11和第二直流电机14动态输出的旋转力矩或保持力矩通过螺纹丝杆18传动，用于驱动下肢外骨骼装置的髋关节水平面的内旋和外展运动，或保持穿戴者髋关节水平面的站立锁定状态，主动控制上述髋关节水平面的旋转角度、角速度和关节力矩。例如，当中风病人穿戴上述下肢外骨骼装置向右转身时，第一直流电机11正转提供旋转力矩，通过螺纹丝杆18正向线性位移，驱动下肢外骨骼装置一侧髋关节在水平面外旋，第二直流电机14反转提供反向旋转力矩，通过螺纹丝杆18反向线性位移，驱动下肢外骨骼装置另一侧髋关节在水平面内旋，从而控制外骨骼髋关节在水平面旋转到预定位置，在旋转过程中，通过所述下肢外骨骼装置的腰部固定支架向用户传递运动助力，帮助用户完成转身动作。Specifically, referring to Figures 2 and 4, when the hip joint horizontal plane driving unit is an active driving unit, the hip joint horizontal plane active driving unit is composed of two antagonistically arranged linear drives, referring to Figure 13, the two linear drives are respectively composed of a first DC motor 11 and a second DC motor 14 that are driven by a threaded screw 18, and the linear drives are respectively connected to the waist fixing bracket 2 and the waist connecting frame through joint bearings to form a crank slider structure. The rotational torque or holding torque dynamically output by the first DC motor 11 and the second DC motor 14 is transmitted through the threaded screw 18, which is used to drive the internal rotation and abduction movement of the hip joint horizontal plane of the lower limb exoskeleton device, or maintain the wearer's hip joint horizontal plane in a standing locked state, and actively control the rotation angle, angular velocity and joint torque of the above-mentioned hip joint horizontal plane. For example, when a stroke patient wears the above-mentioned lower limb exoskeleton device and turns right, the first DC motor 11 rotates forward to provide a rotational torque, and through the positive linear displacement of the screw rod 18, drives the hip joint on one side of the lower limb exoskeleton device to rotate outward in the horizontal plane. The second DC motor 14 reverses to provide a reverse rotational torque, and through the reverse linear displacement of the screw rod 18, drives the hip joint on the other side of the lower limb exoskeleton device to rotate inward in the horizontal plane, thereby controlling the exoskeleton hip joint to rotate to a predetermined position in the horizontal plane. During the rotation process, the waist fixing bracket of the lower limb exoskeleton device transmits motion assistance to the user to help the user complete the turning action.
具体地，参见图5和图15，所述髋关节水平面驱动单元为被动驱动单元时，该被动驱动单元由回复弹簧驱动，回复弹簧通过关节轴承分别连接腰部固定支架2和腰部连接框架，可使所述腰部连接框架和所述大腿连接框架回到初始相对位置，所述外骨骼装置在所述外骨骼装置穿戴者的主动驱动下能实现水平面内的转动。所述被动驱动单元中的回复弹簧可以采用线性弹簧、扭转弹簧和气动弹簧中的任意一种。Specifically, referring to Figures 5 and 15, when the hip joint horizontal plane drive unit is a passive drive unit, the passive drive unit is driven by a return spring, which is respectively connected to the waist fixing bracket 2 and the waist connecting frame through a joint bearing, so that the waist connecting frame and the thigh connecting frame can return to the initial relative position, and the exoskeleton device can realize the rotation in the horizontal plane under the active drive of the wearer of the exoskeleton device. The return spring in the passive drive unit can be any one of a linear spring, a torsion spring and a pneumatic spring.
作为本发明的一个优选实施例，所述髋关节矢状面驱动单元，该驱动单元为主动驱动单元。As a preferred embodiment of the present invention, the hip joint sagittal plane driving unit is an active driving unit.
具体地，参见图1-图3以及图6，所述髋关节矢状面主动驱动单元位于装置的两侧，每个髋关节矢状面主动驱动单元由两个拮抗布置的直线驱动器构成，一侧髋关节矢状面驱动单元由第三直流电4和第四直流电机12配合螺纹丝杆18传动，另一侧髋关节矢状面驱动单元由第五直流电机8和第六直流电机15配合螺纹丝杆18传动，直线驱动器连接腰部连接框架和大腿连接框架构成曲柄滑块结构，第三直流电机4、第四直流电机12、第五直流电机8和第六直流电机15通过螺纹丝杆18动态输出旋转力矩或保持力矩，用于驱动下肢外骨骼装置的髋关节在矢状面的流畅旋转，或保持所述髋关节在矢状面的站立锁定，主动控制上述髋关节矢状面的旋转角度、角速度和关节力矩。例如，参见图6，当中风病人穿戴上述下肢外骨骼装置行走时，第三直流电机4正转旋转提供旋转力矩，第四直流电机12反转旋转提供反向旋转力矩，驱动下肢外骨骼装置一侧髋关节在矢状面前摆至预定位置，第五直流电机8正转旋转提供旋转力矩，第六直流电机15反转旋转提供反向旋转力矩，驱动下肢外骨骼装置另一侧髋关节在矢状面后摆至预定位置，两侧髋关节在矢状面交替进入摆动相和支撑相。Specifically, referring to Figures 1-3 and 6, the hip joint sagittal plane active drive units are located on both sides of the device, and each hip joint sagittal plane active drive unit is composed of two antagonistically arranged linear drives. The hip joint sagittal plane drive unit on one side is driven by the third DC motor 4 and the fourth DC motor 12 in cooperation with the threaded screw 18, and the hip joint sagittal plane drive unit on the other side is driven by the fifth DC motor 8 and the sixth DC motor 15 in cooperation with the threaded screw 18. The linear drive connects the waist connecting frame and the thigh connecting frame to form a crank slider structure. The third DC motor 4, the fourth DC motor 12, the fifth DC motor 8 and the sixth DC motor 15 dynamically output rotational torque or holding torque through the threaded screw 18, which is used to drive the hip joint of the lower limb exoskeleton device to rotate smoothly in the sagittal plane, or to maintain the standing lock of the hip joint in the sagittal plane, and actively control the rotation angle, angular velocity and joint torque of the above-mentioned hip joint sagittal plane. For example, referring to FIG6 , when a stroke patient wears the above-mentioned lower limb exoskeleton device to walk, the third DC motor 4 rotates forward to provide a rotational torque, and the fourth DC motor 12 rotates reversely to provide a reverse rotational torque, driving the hip joint on one side of the lower limb exoskeleton device to swing to a predetermined position in the front of the sagittal plane, the fifth DC motor 8 rotates forward to provide a rotational torque, and the sixth DC motor 15 rotates reversely to provide a reverse rotational torque, driving the hip joint on the other side of the lower limb exoskeleton device to swing to a predetermined position in the rear of the sagittal plane, and the hip joints on both sides alternately enter the swing phase and the support phase in the sagittal plane.
具体地，参见图4和图5，所述腰部固定支架与腰部连接框架之间通过平面铰链连接。Specifically, referring to FIG. 4 and FIG. 5 , the waist fixing bracket is connected to the waist connecting frame via a planar hinge.
作为本发明的一个优选实施例，所述膝关节矢状面驱动单元为主动驱动单元或半被动驱动单元中。As a preferred embodiment of the present invention, the knee joint sagittal plane driving unit is an active driving unit or a semi-passive driving unit.
具体地，参见图2、图3、图7、图13和图14，所述膝关节矢状面主动驱动单元由拮抗布置的直线驱动单元和磁控阻尼器驱动组成，一侧膝关节矢状面驱动单元由第七直流电机配合螺纹丝杆18传动和第一磁控阻尼器13驱动构成，另一侧膝关节矢状面驱动单元由第八直流电机配合螺纹丝杆18传动和第二磁控阻尼器16驱动构成，直线驱动器通过关节轴承连接大腿连接框架和小腿连接框架构成曲柄滑块结构，直流电机通过螺纹丝杆18传动动态输出保持力矩或输出力矩，用于保持下肢外骨骼装置膝关节在矢状面的站立锁或流畅摆动，主动控制上述膝关节矢状面的旋转角度、角速度和关节力矩。例如，当中风病人穿戴上述下肢外骨骼装置行走，第七直流电机正转旋转提供旋转力矩，驱动下肢外骨骼装置的一侧膝关节在矢状面摆动至预定位置，第八直流电机反转旋转提供反向旋转力矩，驱动下肢外骨骼装置的另一侧膝关节在矢状面摆动至预定位置，使两侧小腿结构交替摆动相和支撑相。Specifically, referring to Figures 2, 3, 7, 13 and 14, the sagittal plane active drive unit of the knee joint is composed of an antagonistically arranged linear drive unit and a magnetically controlled damper. The sagittal plane drive unit of the knee joint on one side is driven by the seventh DC motor in cooperation with the threaded screw 18 and the first magnetically controlled damper 13, and the sagittal plane drive unit of the knee joint on the other side is driven by the eighth DC motor in cooperation with the threaded screw 18 and the second magnetically controlled damper 16. The linear drive connects the thigh connecting frame and the calf connecting frame through a joint bearing to form a crank slider structure. The DC motor dynamically outputs a holding torque or an output torque through the threaded screw 18, which is used to maintain the standing lock or smooth swing of the knee joint of the lower limb exoskeleton device in the sagittal plane, and actively controls the rotation angle, angular velocity and joint torque of the sagittal plane of the above-mentioned knee joint. For example, when a stroke patient wears the above-mentioned lower limb exoskeleton device to walk, the seventh DC motor rotates forward to provide a rotational torque, driving the knee joint on one side of the lower limb exoskeleton device to swing to a predetermined position in the sagittal plane, and the eighth DC motor rotates reversely to provide a reverse rotational torque, driving the knee joint on the other side of the lower limb exoskeleton device to swing to a predetermined position in the sagittal plane, so that the lower leg structures on both sides alternate between the swinging phase and the supporting phase.
参见图2和图7，第一磁控阻尼器13、第二磁控阻尼器16配合滑杆传动构成磁控阻尼器驱动单元，磁控阻尼驱动器驱动单元通过关节轴承连接所述下肢外骨骼装置的大腿连接框架和小腿连接框架构成曲柄滑块结构，第一磁控阻尼器13驱动单元和第七直线驱动器拮抗布置在一侧，第二磁控阻尼器16驱动单元和第八直线驱动器拮抗布置在另一侧，磁控阻尼器输出静态阻尼力或动态阻尼力，用于保持所述下肢外骨骼膝关节在矢状面的战力锁定或流畅摆动，通过控制磁控阻尼器励磁电流，被动控制所述髋关节在矢状面的旋转角度、角速度和关节力矩。Referring to Figures 2 and 7, the first magnetically controlled damper 13 and the second magnetically controlled damper 16 cooperate with the slide rod transmission to form a magnetically controlled damper drive unit. The magnetically controlled damper drive unit is connected to the thigh connection frame and the calf connection frame of the lower limb exoskeleton device through a joint bearing to form a crank slider structure. The first magnetically controlled damper 13 drive unit and the seventh linear drive antagonistically arranged on one side, and the second magnetically controlled damper 16 drive unit and the eighth linear drive antagonistic arranged on the other side. The magnetically controlled damper outputs static damping force or dynamic damping force to keep the combat force locking or smooth swing of the knee joint of the lower limb exoskeleton in the sagittal plane. By controlling the excitation current of the magnetically controlled damper, the rotation angle, angular velocity and joint torque of the hip joint in the sagittal plane are passively controlled.
具体地，参见图8，所述膝关节矢状面驱动单元为半被动驱动单元时，其由磁控阻尼器驱动配合回复弹簧驱动，所述回复弹簧可驱动所述膝关节在矢状面伸展回复到初始位置，所述磁控阻尼器与大腿连接框架和小腿连接框架形成曲柄滑块结构，通过控制所述磁控阻尼器的励磁电流，可被动控制所述膝关节在矢状面弯曲和伸展时的转动角度、角速度和关节力矩。Specifically, referring to Figure 8, when the knee joint sagittal plane drive unit is a semi-passive drive unit, it is driven by a magnetically controlled damper in conjunction with a return spring. The return spring can drive the knee joint to return to its initial position in sagittal plane extension. The magnetically controlled damper forms a crank slider structure with the thigh connecting frame and the calf connecting frame. By controlling the excitation current of the magnetically controlled damper, the rotation angle, angular velocity and joint torque of the knee joint in sagittal plane bending and extension can be passively controlled.
作为本发明的一个优选实施例，所述踝关节矢状面驱动单元可以采用主动驱动单元，该主动驱动单元由直流电机配合齿轮减速器和谐波减速器中一种组成，能主动控制所述踝关节在矢状面的转动角度、角速度、和输出力矩。As a preferred embodiment of the present invention, the ankle joint sagittal plane drive unit can adopt an active drive unit, which is composed of a DC motor combined with a gear reducer and a harmonic reducer, and can actively control the rotation angle, angular velocity, and output torque of the ankle joint in the sagittal plane.
具体地，参见图9，主动驱动单元由第九直流电机7或第十直流电机10配合齿轮减速器构成，上述踝关节矢状面主动驱动单元固定至下肢外骨骼装置小腿支撑板的末端，动态输出保持力矩和旋转力矩，用于保持下肢外骨骼踝关节的站立锁定或用于驱动所述下肢外骨骼装置踝关节在矢状面的转动，主动控制所述踝关节在矢状面的转动角度、角速度和关节力矩。Specifically, referring to Figure 9, the active drive unit is composed of the ninth DC motor 7 or the tenth DC motor 10 in conjunction with a gear reducer. The above-mentioned ankle joint sagittal plane active drive unit is fixed to the end of the calf support plate of the lower limb exoskeleton device, and dynamically outputs a holding torque and a rotational torque to maintain the standing lock of the ankle joint of the lower limb exoskeleton or to drive the rotation of the ankle joint of the lower limb exoskeleton device in the sagittal plane, and actively controls the rotation angle, angular velocity and joint torque of the ankle joint in the sagittal plane.
作为本发明的一个优选实施例，参见图10，所述踝关节矢状面驱动单元也可以是半被动单元，该半被动单元由磁控阻尼器驱动配合回复弹簧23驱动。磁控阻尼器包括磁流变液阀20、磁流变液导流管21和液压缸22。所述回复弹簧23驱动膝关节在矢状面伸展回复到初始位置，所述磁控阻尼器与与小腿连接框架和脚掌固定支架形成曲柄滑块结构，其中小腿连接框架与所述脚掌固定支架通过平面铰链连接，通过控制所述磁控阻尼器的励磁电流，可被动控制所述踝关节在矢状面弯曲和伸展时的转动角度、角速度和关节力矩。As a preferred embodiment of the present invention, referring to FIG10 , the ankle joint sagittal plane driving unit may also be a semi-passive unit, which is driven by a magnetically controlled damper in cooperation with a return spring 23. The magnetically controlled damper comprises a magnetorheological fluid valve 20, a magnetorheological fluid guide tube 21 and a hydraulic cylinder 22. The return spring 23 drives the knee joint to return to its initial position in sagittal plane extension, and the magnetically controlled damper forms a crank slider structure with the calf connection frame and the sole fixing bracket, wherein the calf connection frame and the sole fixing bracket are connected by a plane hinge, and by controlling the excitation current of the magnetically controlled damper, the rotation angle, angular velocity and joint torque of the ankle joint in sagittal plane bending and extension can be passively controlled.
作为本发明的一个优选实施例，参见图11，所述踝关节矢状面驱动单元也可以为被动驱动单元，该被动驱动单元包括两个对称的回复弹簧，所述回复弹簧可帮助小腿连接框架与脚掌固定支架的相对角度回到初始位置，所述小腿连接框架与所述脚掌固定支架通过平面铰链连接。所述被动驱动单元中的回复弹簧为线性弹簧、扭转弹簧和气动弹簧中的任意一种。As a preferred embodiment of the present invention, referring to FIG11 , the ankle joint sagittal plane driving unit may also be a passive driving unit, which includes two symmetrical return springs, which can help the relative angle between the calf connection frame and the sole fixing bracket return to the initial position, and the calf connection frame and the sole fixing bracket are connected by a plane hinge. The return spring in the passive driving unit is any one of a linear spring, a torsion spring and a pneumatic spring.
作为本发明的一个优选实施例，所述下肢固定支架的内表面集成有曲面压力测量单元，该压力测量单元测量下肢外骨骼装置与下肢外骨骼装置穿戴者间的接触应力，所测量的接触应力可用于量化下肢固定支架的穿戴舒适性，同时可用于解码下肢外骨骼穿戴者的运动意图。As a preferred embodiment of the present invention, the inner surface of the lower limb fixation bracket is integrated with a curved surface pressure measurement unit, which measures the contact stress between the lower limb exoskeleton device and the wearer of the lower limb exoskeleton device. The measured contact stress can be used to quantify the wearing comfort of the lower limb fixation bracket, and can also be used to decode the movement intention of the wearer of the lower limb exoskeleton.
具体地，所述传感器包括下肢肌电传感器(EMG)、各个关节角度传感器、下肢固定支架上分布的压力传感器、下肢固定支架上分布的压力测量单元，以及安装在下肢脚掌、小腿、大腿、腰部的惯性测量单元(I MU)等。Specifically, the sensors include lower limb electromyography sensors (EMG), joint angle sensors, pressure sensors distributed on lower limb fixation brackets, pressure measurement units distributed on lower limb fixation brackets, and inertial measurement units (IMU) installed on the soles of the feet, calves, thighs, and waist of the lower limbs.
进一步地，所述下肢肌电传感器(EMG)用于检测下肢外骨骼穿戴者的肌肉的肌电信号，从而解码穿戴者的运动意图，已经量化穿戴的康复效果，同时检测下肢的肌肉运动疲劳等信息。Furthermore, the lower limb electromyographic sensor (EMG) is used to detect the electromyographic signals of the muscles of the lower limb exoskeleton wearer, thereby decoding the wearer's movement intention, quantifying the rehabilitation effect of the wearer, and detecting information such as lower limb muscle movement fatigue.
下肢固定支架上分布的压力测量单元用于检测上述外骨骼和穿戴者肢体之间的相互作用力和作用力矩，包括固定支架和用户大腿和小腿之间的相互作用力和作用力矩，以及用户跖底和下肢外骨骼足底支撑板之间的相互作用力和作用力矩；惯性测量单元用于反馈下肢外骨骼装置运动信息，包括运动方向、运动速度、运动加速度，角度，角速度。The pressure measurement units distributed on the lower limb fixed bracket are used to detect the interaction force and torque between the above-mentioned exoskeleton and the wearer's limbs, including the interaction force and torque between the fixed bracket and the user's thigh and calf, and the interaction force and torque between the user's plantar surface and the plantar support plate of the lower limb exoskeleton; the inertial measurement unit is used to feedback the motion information of the lower limb exoskeleton device, including motion direction, motion speed, motion acceleration, angle, and angular velocity.
所述控制器基于角度传感器、压力传感器、肌电信号检测传感器获取的信号识别用户的运动意图，进一步控制下肢外骨骼装置的各个直流电机和阻尼器的输出力矩，控制下肢外骨骼装置的髋关节、膝关节和踝关节按照设定的方向、角度，角速度，角加速度进行旋转，从而控制下肢外骨骼装置的髋关节、膝关节、踝关节、大腿和小腿结构的运动轨迹和运动姿态。The controller recognizes the user's movement intention based on the signals obtained by the angle sensor, the pressure sensor, and the electromyographic signal detection sensor, further controls the output torque of each DC motor and damper of the lower limb exoskeleton device, controls the hip joint, knee joint and ankle joint of the lower limb exoskeleton device to rotate according to the set direction, angle, angular velocity, and angular acceleration, thereby controlling the movement trajectory and movement posture of the hip joint, knee joint, ankle joint, thigh and calf structure of the lower limb exoskeleton device.
所述压力传感器安装到固定支架内侧和足底支撑板，用于测量用户与固定支架之间的相互作用力和用户与地面之间的相互作用力。The pressure sensor is installed on the inner side of the fixing bracket and the sole support plate, and is used to measure the interaction force between the user and the fixing bracket and the interaction force between the user and the ground.
具体地，足底压力传感器固定在所述脚掌固定支架的上表面，用于反馈穿戴者足底与下肢外骨骼装置脚掌固定支架之间的相互作用力。Specifically, a plantar pressure sensor is fixed on the upper surface of the sole fixing bracket to feedback the interaction force between the wearer's sole and the sole fixing bracket of the lower limb exoskeleton device.
具体地，在所述髋关节矢状面连接处、膝关节矢状面连接处和踝关节矢状面连接处安装电位器，用于反馈下肢外骨骼所述髋关节、膝关节和踝关节矢状面的旋转角度。Specifically, potentiometers are installed at the sagittal plane connection of the hip joint, the sagittal plane connection of the knee joint and the sagittal plane connection of the ankle joint to feedback the rotation angles of the sagittal planes of the hip joint, the knee joint and the ankle joint of the lower limb exoskeleton.
具体地，肌电信号检测传感器安装在大腿固定支架3、小腿固定支架6内表面，通过信号处理和计算，实时向控制背包反馈下肢主要肌肉产生的电信号，通过解码获得穿戴者的肌肉力量和疲劳程度信息。参见图12，为实时检测穿戴者大腿和小腿与所述下肢外骨骼装置大腿固定支架3和小腿固定支架6之间的相互作用力，在腰部固定支架、大腿固定支架3和小腿固定支架6的内表面固定柔性压力传感器24。参见图3，在螺纹丝杆18与关节轴承连接处固定力传感器19，用于测量直线驱动器中螺纹丝杆18的轴向力。Specifically, the electromyographic signal detection sensor is installed on the inner surface of the thigh fixing bracket 3 and the calf fixing bracket 6. Through signal processing and calculation, the electrical signals generated by the main muscles of the lower limbs are fed back to the control backpack in real time, and the wearer's muscle strength and fatigue level information is obtained through decoding. Referring to FIG12, in order to detect the interaction force between the wearer's thigh and calf and the thigh fixing bracket 3 and the calf fixing bracket 6 of the lower limb exoskeleton device in real time, a flexible pressure sensor 24 is fixed on the inner surface of the waist fixing bracket, the thigh fixing bracket 3 and the calf fixing bracket 6. Referring to FIG3, a force sensor 19 is fixed at the connection between the threaded screw 18 and the joint bearing to measure the axial force of the threaded screw 18 in the linear drive.
具体地，参见图12，在腰部固定支架、大腿固定支架3、小腿固定支架6和脚掌固定支架的力敏感区应用负泊松比智能结构单元25，用于提高穿戴者的舒适感，同时实现固定牢固，降低接触应力集中现象。在控制背包中安装惯性测量单元，用于测量反馈所述下肢外骨骼的运动方向、运动速度、运动加速度、角度和角速度。Specifically, referring to Fig. 12, negative Poisson's ratio intelligent structural units 25 are applied to the force sensitive areas of the waist fixing bracket, the thigh fixing bracket 3, the calf fixing bracket 6 and the sole fixing bracket to improve the comfort of the wearer, and at the same time achieve firm fixation and reduce the contact stress concentration phenomenon. An inertial measurement unit is installed in the control backpack to measure and feedback the movement direction, movement speed, movement acceleration, angle and angular velocity of the lower limb exoskeleton.
综上，本发明提出的用于康复助力的下肢动力外骨骼装置对外骨骼下肢固定支架进行了改进，引入了智能结构单元和曲面应力检测，提高了外骨骼装置与穿戴者的人机交互性能，用于帮助下肢运动功能受损患者，如下肢中风患者，等实现行走康复训练。图16为本发明提出的用于康复助力的下肢动力外骨骼装置的一个完整步态周期运动状态，图17-图19展示了该装置在地面测力板上行走时，在人体完整步态周期髋关节、膝关节和踝关节矢状面角度、关节力矩、关节功率变化示意图；图20为人体步态周期地面测力板反作用力变化图(正常人在地面测力板上行走)。In summary, the lower limb powered exoskeleton device for rehabilitation assistance proposed in the present invention improves the exoskeleton lower limb fixing bracket, introduces intelligent structural units and curved surface stress detection, improves the human-computer interaction performance between the exoskeleton device and the wearer, and is used to help patients with impaired lower limb motor function, such as lower limb stroke patients, to achieve walking rehabilitation training. Figure 16 is a complete gait cycle motion state of the lower limb powered exoskeleton device for rehabilitation assistance proposed in the present invention, and Figures 17 to 19 show schematic diagrams of the changes in the sagittal plane angles, joint torques, and joint powers of the hip joints, knee joints, and ankle joints during a complete gait cycle of the human body when the device walks on a ground force plate; Figure 20 is a diagram of the changes in the reaction force of the ground force plate during the human gait cycle (a normal person walks on a ground force plate).
以上，仅是本发明的较佳实施例而已，并非对本发明作任何形式上的限制，依据本发明的技术实质对以上实施例所作的任何简单修改、等同变化与修饰，均仍属于本发明技术方案的范围内。The above are only preferred embodiments of the present invention and are not intended to limit the present invention in any form. Any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are still within the scope of the technical solution of the present invention.
| Application Number | Priority Date | Filing Date | Title |
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| CN202410770496.4ACN118717483A (en) | 2024-06-14 | 2024-06-14 | Lower limb powered exoskeleton device for rehabilitation assistance |
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| CN202410770496.4ACN118717483A (en) | 2024-06-14 | 2024-06-14 | Lower limb powered exoskeleton device for rehabilitation assistance |
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| CN118717483Atrue CN118717483A (en) | 2024-10-01 |
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| CN202410770496.4APendingCN118717483A (en) | 2024-06-14 | 2024-06-14 | Lower limb powered exoskeleton device for rehabilitation assistance |
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