CN115252372A

CN115252372A - Hip joint exoskeleton motion assistance system and multi-redundancy-degree-of-freedom joint assembly

Info

Publication number: CN115252372A
Application number: CN202210988590.8A
Authority: CN
Inventors: 杨兴帮; 杨轩; 樊瑜波
Original assignee: Beihang University
Current assignee: Beihang University
Priority date: 2022-08-17
Filing date: 2022-08-17
Publication date: 2022-11-01

Abstract

The application discloses a hip joint exoskeleton motion power-assisted system and a multi-redundancy-degree-of-freedom joint assembly. The hip exoskeleton motion assistance system comprises a leg assembly; the leg assembly includes: a drive device; the input end of the force transmission component is connected with the driving device; the input end of the joint is connected with the output end of the force transmission component; the driving device is used for providing driving force for the force transmission component so as to enable the force transmission component to drive the joint component to move, and therefore the multi-redundancy-degree-of-freedom joint component drives the leg accommodating device to move; the multiple redundant degree of freedom joint assembly enables the non-soft leg receiving device to have three degrees of freedom in motion required for hip articulation. The multi-redundancy-degree-of-freedom joint assembly is arranged, and the non-soft leg containing device can have the degrees of freedom in three directions required by hip joint movement during movement.

Description

Hip joint exoskeleton motion assistance system and multi-redundancy-degree-of-freedom joint assembly

Technical Field

The application relates to the technical field of exoskeleton assistance, in particular to a hip joint exoskeleton motion assistance system and a multi-redundancy-degree-of-freedom joint assembly.

Background

At present, the hip joint assistance exoskeleton is widely applied, and can help a user to carry out exercise assistance or rehabilitation training and realize the motion forms of walking, running, going upstairs and downstairs and the like. The traditional hip joint assisting exoskeleton device can drive legs of a person to move through a motor or a hydraulic motor to achieve an assisting effect, but the traditional hip joint assisting exoskeleton needs to be provided with a motor at each hip joint for driving the joint, so that the device is often too wide and inconvenient to wear, the swing of upper limbs is hindered by the too wide motor driving assembly during use, and the problems that the weight is dispersed at two sides of a human body, the gravity center of the device is far away from the gravity center of the human body, the movement burden is increased, extra physical energy consumption is caused, and the freedom degree of movement of the hip joint is limited, the weight is large and the like exist.

In the prior hip joint exoskeleton, soft flexible materials are usually adopted as leg connecting parts, however, the flexible materials as the leg connecting parts are easy to deform and misplace, so that the legs are stressed unevenly, and the assistance which can be provided for the legs is limited due to the limitation of the strength and rigidity of the materials, so that the legs are difficult to be provided with enough assistance.

With the leg link formed of a rigid structure, the hip exoskeleton motion assistance system is not effective and may cause discomfort to the wearer and may impede the motion of the user's hip joints in various degrees of freedom, e.g., hip joints typically have extension/flexion, abduction/adduction, and internal/external rotation directions, however, due to the constraint of the hip exoskeleton motion assistance system, the user may not be able to effectively perform abduction, adduction, internal rotation, or external rotation motions or may be impeded by the leg link while performing such motions.

It is therefore desirable to have a solution that overcomes or at least alleviates at least one of the above-mentioned drawbacks of the prior art.

Disclosure of Invention

It is an object of the present application to provide a hip exoskeleton motion assistance system that overcomes or at least mitigates at least one of the above-mentioned disadvantages of the prior art.

To achieve the above objects, the present application provides a hip-joint exoskeleton movement assistance system comprising a waist assembly and a leg assembly; wherein the leg assembly comprises:

a drive device;

the force transmission assembly comprises a force transmission assembly input end and a force transmission assembly output end, and the force transmission assembly input end is connected with the driving device;

the multi-redundancy-degree-of-freedom joint assembly comprises a joint input end and a joint output end, and the joint input end is connected with the output end of the force transmission assembly;

a non-soft leg receiving device, said non-soft leg receiving device comprising a receiving space adapted to receive a leg of a user therein, said joint output connected to said non-soft leg receiving device; wherein,

the driving device is used for providing driving force for the force transmission assembly so as to enable the force transmission assembly to drive the joint assembly to move, and therefore the multi-redundancy-degree-of-freedom joint assembly drives the leg accommodating device to move;

the multi-redundant degree of freedom joint assembly enables the non-soft leg receiving device to have three directions of freedom for hip joint movement during movement.

Optionally, the drive means comprises a right leg drive means and/or a left leg drive means;

the force transmission assembly comprises a left leg force transmission set and/or a right leg force transmission set;

the non-soft leg accommodating device comprises a left leg accommodating device and/or a right leg accommodating device;

the multi-redundancy freedom degree joint assembly comprises a left leg joint group and/or a right leg joint group, and the left leg joint group comprises a left leg joint input end and a left leg joint output end; the right leg joint group comprises a right leg joint input end and a right leg joint output end; wherein,

the right leg driving device is connected with the right leg force transmission group, and the left leg driving device is connected with the left leg force transmission group;

the left leg accommodating device is connected with the left leg joint output end of the left leg joint group, and the left leg force transmission group is connected with the left leg joint input end of the left leg joint group;

the right leg accommodating device is connected with the right leg joint output end of the right leg joint group, and the right leg force transmission group is connected with the right leg joint input end of the right leg joint group.

Optionally, the waist feature comprises:

a waistband;

the waist support, the waistband with waist support connected.

Optionally, the lumbar support comprises a lumbar inner side fixing plate, a lumbar outer side fixing plate and a support fixing rod;

the waist support further comprises a left leg support fixing sliding block and/or a right leg support fixing sliding block; wherein,

the waistband is arranged between the waist inner side fixing plate and the waist outer side fixing plate;

the bracket fixing rod is fixed on the waist outer side fixing plate;

the left leg support fixing sliding block and/or the right leg support fixing sliding block are/is connected with the support fixing rod through hole shaft matching.

Optionally, the left leg force transfer set comprises:

the left leg support assembly is connected with the support fixing rod and is clamped by the left leg support fixing sliding block along the axial direction, and the left leg driving device is connected with the left leg support assembly;

the left leg main shaft is connected with the output end of the left leg driving device;

the left leg bearing assembly is arranged on the left leg support assembly, and a bearing inner ring of the left leg bearing assembly is connected with the left leg main shaft;

the left leg power-assisted line assembly comprises a left leg power-assisted line input end and a left leg power-assisted line output end, the left leg power-assisted line input end is connected with the left leg main shaft, and the left leg power-assisted line output end is connected with the left leg joint input end of the left leg joint group; wherein,

the left leg driving device is used for providing rotating force for the left leg main shaft, and the left leg main shaft is used for driving the left leg power-assisted line assembly to move, so that the left leg power-assisted line assembly drives the left leg joint group to move, and the left leg joint group drives the left leg accommodating device to move in the hip joint extending direction or the hip joint bending direction.

Optionally, the right leg force transfer set comprises:

the right leg support assembly is connected with the support fixing rod and is clamped by the right leg support fixing sliding block along the axial direction, and the right leg driving device is connected with the right leg support assembly;

the right leg main shaft is connected with the output end of the right leg driving device;

the right leg bearing assembly is arranged on the right leg support assembly, and a bearing inner ring of the right leg bearing assembly is connected with a right leg main shaft;

the right leg power-assisted line assembly comprises a right leg power-assisted line input end and a right leg power-assisted line output end, the right leg power-assisted line input end is connected with the right leg main shaft, and the right leg power-assisted line output end is connected with the right leg joint input end of the right leg joint group; wherein,

the right leg driving device is used for providing rotating force for the right leg main shaft, and the right leg main shaft is used for driving the right leg power-assisted line assembly to move, so that the right leg power-assisted line assembly drives the right leg joint group to move, and the right leg joint group drives the right leg accommodating device to move in the hip joint extension direction or the hip joint flexion direction.

Optionally, the left leg joint set comprises:

the left leg input arm assembly comprises a left leg input arm input end and a left leg input arm output end, and the left leg input arm input end is connected with the left leg power-assisted line output end;

the left leg output arm assembly comprises a left leg output arm input end and a left leg output arm output end, and the left leg output arm input end is connected with the left leg input arm assembly;

a left leg clamping assembly that clamps the left leg input arm assembly and the left leg input arm assembly;

the left leg force transmission rod comprises a left leg force transmission rod input end and a left leg force transmission rod output end, and the left leg force transmission rod input end is connected with the left leg output arm output end;

the output end of the left leg force transmission rod is connected with the left leg force transmission rod fixing device;

the left leg fisheye bearing sleeve component is characterized in that a left leg force transmission rod piece fixing device is connected with a bearing inner ring of the left leg fisheye bearing sleeve component through a fixing shaft;

the left leg sliding rod sleeve is connected with the left leg fisheye bearing sleeve component;

the left leg sliding rod is sleeved in the shaft hole of the left leg sliding rod sleeve, the left leg sliding rod is matched with the shaft hole of the left leg sliding rod sleeve, and the left leg sliding rod is connected with the left leg accommodating device.

Optionally, the right leg joint set comprises:

the right leg input arm assembly comprises a right leg input arm input end and a right leg input arm output end, and the right leg input arm input end is connected with the right leg power-assisted line output end;

the right leg output arm assembly comprises a right leg output arm input end and a right leg output arm output end, and the right leg output arm input end is connected with the right leg input arm assembly;

a right leg clamping assembly that clamps the right leg input arm assembly and the right leg input arm assembly;

the right leg dowel bar comprises a right leg dowel bar input end and a right leg dowel bar output end, and the right leg dowel bar input end is connected with the right leg output arm output end;

the output end of the right leg force transmission rod piece is connected with the right leg force transmission rod piece fixing device;

the right leg fisheye bearing sleeve component is connected with the bearing inner ring of the right leg fisheye bearing sleeve component through a fixed shaft;

the right leg sliding rod sleeve is respectively connected with the right leg fisheye bearing sleeve assembly and the right leg accommodating device;

the right leg sliding rod is sleeved in the shaft hole of the right leg sliding rod sleeve, the right leg sliding rod is matched with the shaft hole of the right leg sliding rod sleeve, and the right leg sliding rod is connected with the right leg accommodating device.

Optionally, the hip exoskeleton motion assisting system further comprises:

a controller connected with the left leg driving device and/or the right leg driving device;

the inertial measurement unit is connected with the controller;

the force sensor comprises a left leg force sensor and a right leg force sensor, and the left leg force sensor is connected with the left leg input arm and used for acquiring stress information of the left leg input arm; the right leg force sensor is connected with the right leg input arm and used for acquiring stress information of the right leg input arm.

The application also provides a multi-redundancy-degree-of-freedom joint assembly which is the multi-redundancy-degree-of-freedom joint assembly. .

The hip joint exoskeleton motion assisting system is provided with a multi-redundancy-degree-of-freedom joint assembly, the non-soft leg accommodating device can have three degrees of freedom required by hip joint motion during motion through the multi-redundancy-degree-of-freedom joint assembly, when thighs of a user are located in the leg accommodating device, no matter the thighs need to be bent and stretched or rotated, motion of the legs of the user cannot be limited due to the non-soft leg accommodating device, in addition, the degrees of freedom cannot interfere with each other, and for example, the legs cannot rotate due to the fact that the thighs are bent and stretched.

Drawings

Figure 1 is a system diagram of a hip exoskeleton motion assist system according to an embodiment of the present application;

figure 2 is a system rear view of a hip exoskeleton motion assist system according to an embodiment of the present application;

FIG. 3 is a schematic illustration of a lumbar assembly of the hip exoskeleton motion assistance system of FIG. 1;

FIG. 4 is a structural rear elevation view of a lumbar assembly of the hip exoskeleton motion assistance system of FIG. 1;

FIG. 5 is a schematic illustration of the leg assembly of the right leg of the hip exoskeleton motion assist system of FIG. 1;

FIG. 6 is another schematic illustration of the leg assembly of the right leg of the hip exoskeleton motion assist system of FIG. 1;

figure 7 is a schematic diagram of the reversing device in the power assist line assembly of the hip exoskeleton motion assist system of figure 1;

FIG. 8 is a schematic diagram of the power assist line assembly of the hip exoskeleton motion assist system of FIG. 1;

FIG. 9 is a schematic diagram of a portion of a multi-redundant degree of freedom joint assembly of the hip exoskeleton motion assistance system of FIG. 1;

figure 10 is a schematic structural view of another portion of the multiple redundant degree of freedom joint assembly of the hip exoskeleton motion assist system of figure 1;

FIG. 11 is a schematic diagram of a portion of a force transfer assembly of the hip exoskeleton motion assist system of FIG. 1;

FIG. 12 is a schematic view of the simulated Bowden cable of the hip exoskeleton motion assistance system of FIG. 1;

FIG. 13 is a schematic illustration of a partial configuration of a left leg fisheye bearing sleeve assembly of the hip exoskeleton motion assistance system of FIG. 1;

figure 14 is a schematic illustration showing a portion of the structure of the left leg slider sleeve of the hip exoskeleton motion assist system of figure 1;

FIG. 15 is a schematic diagram of coordinated movement of a human body and exoskeleton with degrees of freedom, wherein (a) is a non-redundant degree of freedom and (b) is a redundant degree of freedom;

fig. 16 is an exploded view of the structure of the component shown in fig. 11.

Reference numerals

Detailed Description

In order to make the implementation objects, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be described in more detail below with reference to the drawings in the embodiments of the present application. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described are some, but not all embodiments of the disclosure. The embodiments described below with reference to the accompanying drawings are illustrative and intended to explain the present application and should not be construed as limiting the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application. Embodiments of the present application will be described in detail below with reference to the accompanying drawings.

In the description of the present application, it is to be understood that the terms "central," "longitudinal," "lateral," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings, which are based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description, but do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore should not be construed as limiting the scope of the present application.

The hip exoskeleton motion assistance system as shown in figures 1 to 11 comprises a waist assembly and a leg assembly; the leg component comprises a driving device, a force transmission component, a multi-redundancy-degree-of-freedom joint component and a non-soft leg accommodating device; the force transmission assembly comprises a force transmission assembly input end and a force transmission assembly output end, and the force transmission assembly input end is connected with the driving device;

the multi-redundancy-degree-of-freedom joint component comprises a joint input end and a joint output end, and the joint input end is connected with the output end of the force transmission component;

the non-soft leg accommodating device comprises an accommodating space, the accommodating space is suitable for accommodating the leg of a user, and the joint output end is connected with the non-soft leg accommodating device; wherein,

the driving device is used for providing driving force for the force transmission assembly so as to enable the force transmission assembly to drive the joint assembly to move, and therefore the joint assembly with multiple redundant degrees of freedom drives the leg accommodating device to move;

the multiple redundant degree of freedom joint assembly enables the non-soft leg receiving device to have three degrees of freedom in motion required for hip articulation.

The hip joint exoskeleton motion power assisting system is used for assisting hip joints of users, and the users usually have two legs, so that most of the structures of the hip joint exoskeleton motion assisting system have two sets, wherein one set serves the left leg of the user, and the other set serves the right leg of the user, and it can be understood that in some cases, if the user only has one leg, only one set of device can be arranged, and the specific conditions are as follows:

in the present embodiment, the driving means includes the right leg driving means 2 and/or the left leg driving means 202;

the non-soft leg receiving means comprises a left leg receiving means 71 and/or a right leg receiving means 7;

the multi-redundancy-degree-of-freedom joint assembly comprises a left leg joint group and/or a right leg joint group, wherein the left leg joint group comprises a left leg joint input end and a left leg joint output end; the right leg joint group comprises a right leg joint input end and a right leg joint output end; wherein,

the right leg driving device 2 is connected with the right leg force transmission group, and the left leg driving device 202 is connected with the left leg force transmission group;

the left leg accommodating device 71 is connected with the left leg joint output end of the left leg joint group, and the left leg force transmission group is connected with the left leg joint input end of the left leg joint group;

the right leg accommodating device 7 is connected with the right leg joint output end of the right leg joint group, and the right leg force transmission group is connected with the right leg joint input end of the right leg joint group.

In this embodiment, the waist feature comprises: a waist belt 9 and a waist support, the waist belt 9 is connected with the waist support.

Referring to fig. 1 to 4, the lumbar support includes a lumbar inner side fixing plate 11, a lumbar outer side fixing plate 12, and a support fixing rod 14; the waist support further comprises a left leg support fixing slide block and/or a right leg support fixing slide block 13; wherein,

the waist belt 9 is arranged between the waist inner side fixing plate 11 and the waist outer side fixing plate 12;

the bracket fixing rod 14 is fixed on the waist outer side fixing plate 12;

the left leg support fixing slide block and/or the right leg support fixing slide block 13 are/is connected with the support fixing rod 14 through hole-shaft matching.

More specifically, the waist belt 9 is fixed by screws between a waist inside fixing plate 11 and a waist outside fixing plate 12, the power supply 1 and the controller 10 are fixed by screws on the waist outside fixing plate 12, and the bracket fixing rod 14 is fixed in a cylindrical hole of the waist outside fixing plate 12. The left leg support fixing slide block and/or the right leg support fixing slide block 13 are/is connected with the support fixing rod 14 through hole-shaft matching, can slide along the axial direction, and can be fixed by nuts. In the present embodiment, the power source 1 is connected to the left leg driving device and the right leg driving device respectively, and is used for providing power to the left leg driving device and the right leg driving device.

In this embodiment, the left leg force transmission unit comprises a left leg support assembly, a left leg main shaft, a left leg bearing assembly and a left leg power-assisted line assembly, the left leg support assembly is connected with the support fixing rod and is clamped by the left leg support fixing sliding block along the axial direction, and the left leg driving device is connected with the left leg support assembly; the left leg main shaft is connected with the output end of the left leg driving device; the left leg bearing assembly is arranged on the left leg support assembly, and a bearing inner ring of the left leg bearing assembly is connected with the left leg main shaft; the left leg power-assisted line assembly comprises a left leg power-assisted line input end and a left leg power-assisted line output end, the left leg power-assisted line input end is connected with the left leg main shaft, and the left leg power-assisted line output end is connected with the left leg joint input end of the left leg joint group; the left leg driving device is used for providing rotating force for the left leg main shaft, and the left leg main shaft is used for driving the left leg power-assisted line assembly to move, so that the left leg power-assisted line assembly drives the left leg joint group to move, and the left leg joint group drives the left leg accommodating device to move in the hip joint extension direction or the hip joint flexion direction.

Referring to fig. 1 to 3, and fig. 5 to 8, the right legged force transmission set includes a right legged support assembly, a right legged main shaft 24, a right legged bearing assembly, and a right leg assisting wire assembly, the right legged support assembly is connected to the support fixing rod 14 and is axially clamped by the right legged support fixing slider 13, and the right leg driving device 202 is connected to the right legged support assembly; the right leg main shaft 24 is connected with the output end of the right leg driving device 202; the right leg bearing assembly is arranged on the right leg support assembly, and the bearing inner ring of the right leg bearing assembly is connected with the right leg main shaft 24; the right leg power-assisted line assembly comprises a right leg power-assisted line input end and a right leg power-assisted line output end, the right leg power-assisted line input end is connected with the right leg spindle, and the right leg power-assisted line output end is connected with the right leg joint input end of the right leg joint group; the right leg driving device 202 is configured to provide a rotating force for a right leg main shaft, and the right leg main shaft is configured to drive the right leg assisting wire assembly to move, so that the right leg assisting wire assembly drives the right leg joint group to move, and the right leg joint group drives the right leg accommodating device to move in a hip joint extending direction or a hip joint bending direction.

In this embodiment, the left leg force transmission set and the right leg force transmission set are mirror images, that is, the components included in the left leg force transmission set are the same as the components included in the right leg force transmission set, and the functions of the components are the same, in the following description, only the right leg force transmission set is taken as an example:

referring to fig. 4 and 5, the right legrest assembly includes an outer bracket 3 and an inner bracket 43, wherein the outer bracket 3 and the inner bracket 43 are fixed by a hole shaft and a nut, so as to be connected to the bracket fixing rod 14, and are axially clamped by the right legrest fixing slider 13, and can axially slide or be fixed with the right legrest fixing slider 13.

In this embodiment, both the left leg driver and the right leg driver are motors, and the right leg driver is fixed to the outer bracket 3 by screws. The right leg spindle 24 is fixed to the output end of the right leg driving device 202 by a screw.

The right leg bearing assembly includes a bearing fixing device 16 and a bearing 23, wherein the bearing fixing device 16 is fixed on the inner bracket 43 by a screw, an outer ring of the bearing 23 is fixed in the bearing fixing device 16 in an interference fit manner, and an inner ring of the bearing 23 is connected with the main shaft 24.

Referring to fig. 5 to 8, in the present embodiment, the right leg assist wire assembly includes a wire sleeve stopper 17, a bowden cable 18, a reversing device 20, a reversing pulley 27, a pulley fixing device 15, an extension assist wire 25 and a flexion assist wire 26, wherein the wire sleeve stopper 17 is connected to the outer bracket 3 and the inner bracket 43 by screws, the bowden cable 18 is spherically fitted with the wire sleeve stopper 17, and the bowden cable 18 is composed of a plurality of wire sleeves 19 connected end to end by spherical fitting. The reversing device 20 is fixed with the outer bracket 3 and the inner bracket 43 through screws, and the bowden-like conduit 18 is connected with the reversing device 20 through spherical surface matching. The diverting pulley 27 is fixed to the pulley holder 15, which forms a wire groove, and the pulley holder 15 is fixed to the outer bracket 3 and the inner bracket 43 by screws. The force transfer assembly 4 is fixed to the outer support 3 and the inner support 43 for rotation about a fixed axis. The ends of the extension assist line 25 and the flexion assist line 26 are fixed to the input arm 21 from both sides, respectively.

In this embodiment, the hip exoskeleton motion assistance system further comprises a force sensor and an encoder, the left leg force transmission set comprises a force sensor and an encoder, and the right leg force transmission set comprises a force sensor and an encoder.

And a force sensor 22 positioned in the right leg force transmission group is arranged on the right leg input arm 21, and a tension value is obtained in real time by measuring the deformation of the right leg input arm 21. The encoder 28 is fixed at the axis of the force transmission assembly 4 of the inner bracket 43 to obtain the angle information of the force transmission assembly in real time.

Referring to fig. 6 to 8, in the present embodiment, the extension assist wire 25 and the flexion assist wire 26 are fixed on the main shaft, and both are wound on the right leg main shaft for a plurality of turns with an allowance, and the winding directions are opposite. The extension power-assisted line 25 passes through a hole below the line sleeve limiting device 17, is changed in direction by the bowden-like line tube 18, enters the reversing device 20, is reversed again by the reversing pulley 27 and is fixed on the input arm 21. The buckling power-assisted line 26 passes through a hole on the line sleeve limiting device 17, changes the direction through the bowden-like line pipe 18, enters the reversing device 20, reverses, and is fixed on the input arm 21.

In this embodiment, the left leg joint group includes a left leg input arm assembly, a left leg output arm assembly, a left leg clamping assembly, a left leg force transmission rod fixing device, a left leg fisheye bearing sleeve assembly, a left leg sliding rod sleeve and a left leg sliding rod, the left leg input arm assembly includes a left leg input arm input end and a left leg input arm output end, and the left leg input arm input end is connected with the left leg power assisting line output end;

the left leg clamping assembly clamps the left leg input arm assembly and the left leg input arm assembly;

the output end of the left leg force transmission rod is connected with a left leg force transmission rod piece fixing device;

the left leg force transmission rod piece fixing device is connected with a bearing inner ring of the left leg fisheye bearing sleeve assembly through a fixed shaft;

the left leg sliding rod is sleeved in the shaft hole of the left leg sliding rod sleeve, the left leg sliding rod is matched with the shaft hole of the left leg sliding rod sleeve, and the left leg sliding rod is connected with the left leg accommodating device. Specifically, in the present embodiment, both ends of the left leg sliding rod are connected to the left leg accommodating device, respectively.

Referring to fig. 9 to 11 and 16, in this embodiment, the right leg joint set includes a right leg input arm assembly 21, a right leg clamping assembly 9, a right leg output arm assembly 5, a right leg force transmission rod member 30, a right leg force transmission rod member fixing device 31, a right leg fisheye bearing sleeve assembly 35, a right leg slide rod sleeve 44 and a right leg slide rod 37, the right leg input arm assembly 21 includes a right leg input arm input end and a right leg input arm output end, and the right leg input arm input end is connected with the right leg power line output end;

the right leg output arm assembly 5 comprises a right leg output arm input end and a right leg output arm output end, and the right leg output arm input end is connected with the right leg input arm assembly 21;

the right leg clamping assembly clamps the right leg input arm assembly and the right leg output arm assembly;

the right leg dowel bar 30 comprises a right leg dowel bar input end and a right leg dowel bar output end, and the right leg dowel bar input end is connected with the right leg output arm output end;

the output end of the right leg force transmission rod is connected with a right leg force transmission rod piece fixing device 34;

the right leg force transmission rod piece fixing device 34 is connected with the bearing inner ring of the right leg fisheye bearing sleeve component 35 through a fixing shaft 36;

the right leg slide bar sleeve 44 is connected to the right leg fisheye bearing sleeve assembly 35 and the right leg slide bar 37, respectively;

the right leg slide bar 37 is sleeved in the shaft hole of the right leg slide bar sleeve 44, the right leg slide bar is in shaft fit with the right leg slide bar sleeve hole, and the right leg slide bar is connected with the right leg accommodating device.

In this embodiment, the right leg joint group and the left leg joint group are mirror images of each other, and both have the same device and the functions of each device are the same, so the following describes the structural composition of the right leg joint group in detail by taking the right leg joint group as an example:

referring to fig. 9 to 11 and 16, in the present embodiment, the right leg input arm 21 includes a right leg input arm input end and a right leg input arm output end, and the right leg input arm input end is connected to the right leg assist line output end.

In this embodiment, the right leg joint set further comprises an output arm fixing device 29, and the right leg output arm assembly is connected with the right leg dowel bar 30 through the output arm fixing device 29 by screws.

In this embodiment, the right leg output arm assembly includes a right leg input arm connection section 40 and a right leg dowel bar connection section 41, where the right leg input arm connection section 40 serves as the right leg output arm input and the right leg dowel bar connection section 41 serves as the right leg output arm output.

The right leg input arm connecting part 40 is fixedly connected with the right leg input arm assembly 21, and the right leg dowel bar connecting part 41 is connected with the right leg dowel bar 30 through the output arm fixing device 29 by screws.

In the present embodiment, the right leg input arm connecting portion 40 and the right leg dowel bar connecting portion 41 are both connected by a bolt, and the relative positions of the two can be adjusted before the connection is fixed.

Referring to fig. 16, a first rotating disk is provided on the right leg input arm connecting portion 40, and a second rotating disk is provided on the right leg dowel bar connecting portion 41, and the first rotating disk and the second rotating disk are connected by bolts.

Referring to fig. 16, in the present embodiment, the right leg clamp assembly 9 includes a first clamp group 91 bolted to the first rotary disk and a second clamp group 92 connected to the second rotary disk, thereby supporting the right leg output arm assembly including the right leg input arm connecting portion 40 and the right leg dowel bar connecting portion 41. In this embodiment, the first clamping group 91 includes a first clamping group bearing 911 and a first clamping group clamping arm 912, one end of the first clamping group clamping arm 912 is disposed in the first clamping group bearing 911 and fixed with the inner ring of the bearing, the other end is connected with the right leg input arm connecting part 40, and the outer ring of the first clamping group bearing 911 is fixed on the fixing member 42;

the second clamping group comprises a second clamping group bearing 921 and a second clamping group clamping arm 922, one end of the second clamping group clamping arm 922 is arranged in the second clamping group bearing 921 and fixed with the inner ring of the bearing, the other end of the second clamping group clamping arm is connected with the right leg dowel bar connecting part 41, and the outer ring of the second clamping group bearing 921 is fixed on the fixing part 42.

The right leg input arm connecting part 40 and the right leg dowel bar connecting part 41 are connected through screws, the relative angle between the right leg input arm connecting part and the right leg dowel bar connecting part can be changed by changing the positions of screw holes, and the relative angle is fixed after connection.

The fixing member 42 is fixedly connected to the outer bracket 3 and the inner bracket 43. The encoder 28 is disposed on the mount 42.

The right leg transfer lever connection part 41 is connected to the right leg transfer lever input.

In this embodiment, the right leg joint set further includes a right leg force transmission rod fixing device 34, the right leg force transmission rod output end of the right leg force transmission rod 30 is fixedly connected with the force transmission rod fixing device 34, the right leg force transmission rod fixing device 34 is connected with the bearing inner ring of the fisheye bearing sleeve component 35 through a fixed shaft 36, the right leg force transmission rod fixing device 34 and the fisheye bearing sleeve component 35 can rotate relatively in three degrees of spatial rotation, and the two can also slide relatively in the axial direction of the fixed shaft 36.

The right leg fisheye bearing sleeve assembly 35 is connected to a right leg slide bar sleeve 44 for relative rotation in the range of ± 45 °.

A right leg slide sleeve 44 is in telescopic axial engagement with the right leg slide 37 for relative rotation and relative sliding movement along the axis of the right leg slide 37, the right leg slide 37 being secured to the right leg receiver 7 by the right leg slide securing means 31.

The right leg receiving means 7 is divided into two parts, the rear side boundary being connected by a hinge 32 and the front side boundary being connected by a strap 38. The right leg thigh receiving chamber 39 is fixed inside the right leg receiving means 7 in direct contact with the user's thigh. An inertial measurement unit 33 (IMU) is fixed to the rear side of the right leg receptacle 7 and provides real-time hip joint movement information for the user.

In this embodiment, the bowden-like conduit structure is shown in fig. 14, each conduit 19 has a hemispherical boss at the head and a hemispherical recess at the tail, and a through hole is formed in the conduit. When the flexible wire sleeve is applied to a mechanism, a plurality of wire sleeves are connected end to end, a flexible plastic wire pipe penetrates into the wire sleeves, and a driving wire is arranged inside the flexible plastic wire pipe. The front end and the rear end of the wire sleeve and the soft plastic wire tube are respectively fixed on the wire sleeve limiting device 17 and the reversing device 20, and a mechanism similar to a ball hinge can be formed between the wire sleeves to generate relative rotation motion. The relative rotational movement between the wire sleeves is limited by the length of the inner soft plastic spool and the hemispherical boss of the wire sleeve, and the maximum angle of the axial deviation of the two wire sleeves is 20 degrees.

The driving wire can slide in the soft plastic spool, the direction of the driving wire can be changed by the wire sleeve and the soft plastic spool, and when the driving end of the driving wire is pulled, the driving end can provide pulling force in the required direction for the actuating mechanism after being guided by the Bowden-like spool. The wire sleeve unit structure imitating the Bowden wire tube ensures that the guiding function of the wire sleeve unit structure is not limited by the relative direction and distance between the front end and the rear end, is more flexible and better to use compared with the traditional wire transmission mechanism, ensures that power sources such as a motor and the like are not fixed at a certain position due to the limitation of the transmission mechanism, can be transferred to the gravity center of a human body, and reduces the rotational inertia and the extra energy loss.

Referring to fig. 12, in the present embodiment, the left and right parts of the right leg fisheye bearing sleeve assembly 35 have two cylindrical holes with mutually perpendicular axes, one fisheye bearing in one hole and the other hole as a sleeve. The fisheye bearing end of the right leg of the part is connected to the force transfer rod mount 34 by a fixed shaft 36, the fisheye bearing providing two degrees of rotational freedom, and the part is also slidable on the fixed shaft 36 along the axis to provide one degree of translational freedom. The sleeve end of this element can cooperate with the right leg slide sleeve 44 to provide one degree of rotational freedom.

Referring to fig. 13, the left half of the right leg slide rod sleeve 44 has a cylindrical structure, which can be fitted into the sleeve end of the right leg fisheye bearing sleeve assembly 35, and has a rotational degree of freedom, but the housing of the component limits the relative rotational angle of the two to ± 45 °; the right half is a ball sleeve that cooperates with the right leg slide 37 with one degree of rotational freedom and one degree of translational freedom along the slide axis.

Referring to fig. 15, in this embodiment, the human hip joint has three degrees of freedom of motion in total, and can complete six directions of motion, i.e., extension/flexion, abduction/adduction, and internal/external rotation. The hip joint exoskeleton studied in this project can provide assistance to a user in the extension/flexion direction, but in order to ensure the thigh movement space of the user, a passive degree of freedom is required to prevent abduction/adduction and the internal/external rotation direction from being blocked. In addition, because there is a distance between the exoskeleton and the human limb, if only the degree of freedom consistent with the number of degrees of freedom of the human joint is set, the human-computer interaction point will be shifted during the movement. As shown in fig. 15a, the exoskeleton freedom degree is consistent with a human limb, and only one degree of freedom is provided, after the exoskeleton rotates by an angle α with the human limb from a vertical state, a human-computer interaction point generates a shift dl along the axial direction of the limb and a shift dw perpendicular to the limb in comparison with the vertical state, and these shifts may cause shear stress and pressure at the human-computer interaction point, possibly causing adverse effects such as abnormal human motion and slippage of the human-computer interaction point. As shown in fig. 15b, after two redundant degrees of freedom are set at the human-computer interaction point along the axial direction and the rotation of the limb, the situations of stress abnormality and action point slippage at the human-computer interaction point can be avoided, and the motion performance of the exoskeleton is improved.

This application is through foretell many redundant degrees of freedom joint subassembly and pass the cooperation of power subassembly, can set up the redundant degree of freedom in the three degree of freedom directions that the hip joint needs, specifically as follows:

taking the right leg joint group as an example, two revolute pairs (a first revolute pair formed by a right leg input arm, a first rotation shaft and a right leg output arm, a second revolute pair formed by a right thigh brace connecting assembly 31 and a right leg fisheye bearing sleeve assembly 35) and a sliding pair (a sliding pair formed by a right leg sliding rod 37 and a right leg sliding rod sleeve 44) which are connected end to end are arranged in the extension/flexion freedom direction, two revolute pairs (a revolute pair formed between a right leg transmission force rod connecting part 41 and the output arm 5, a second revolute pair formed by a fixing device 34 and the right leg fisheye bearing sleeve assembly 35) and a sliding pair (a sliding pair formed by the right leg sliding rod 37 and the right leg sliding rod sleeve 44) which are connected end to end are arranged in the extension/flexion freedom direction, and three revolute pairs (a first revolute pair formed between the right leg transmission force rod fixing device 34 and the right leg fisheye bearing sleeve assembly 35, a right leg sliding pair sliding sleeve assembly 37 and a right leg sliding rod sleeve 44) are arranged in the extension/flexion direction. Wherein, part of the rotating pairs have angle limiting structures, which can prevent the assistant direction from deviating on the premise of ensuring the freedom degree of the movement of the hip joint. Through calculation, the redundant degree of freedom design of the exoskeleton can ensure that the range of the stretching and bending angles is-15 degrees to 45 degrees, the range of the adduction and abduction angles is-5 degrees to 90 degrees, the range of the internal rotation and external rotation angles is-15 degrees to 15 degrees, and the angle ranges of the hip joint movement in the walking process of a human body are completely covered.

In this embodiment, the hip exoskeleton motion assisting system further comprises a controller, an inertial measurement unit 33 and a force sensor 22, wherein the controller is connected with the left leg driving device and/or the right leg driving device; the inertia measurement unit 33 is connected with the controller; the force sensor 22 comprises a left leg force sensor and a right leg force sensor, wherein the left leg force sensor is connected with the left leg input arm and is used for acquiring stress information of the left leg input arm; and the right leg force sensor is connected with the right leg input arm and used for acquiring the stress information of the right leg input arm.

The following description is given by way of example of how the present application operates in detail during its use, and it is to be understood that the examples do not constitute any limitation of the present application.

Firstly, the user's leg movement data is sent to the controller 10 through the IMU33, the current gait of the human body is judged after being processed by a program, and the wire tension measured by the force sensor 22 and the position data measured by the encoder 28 are sent to the controller 10 as feedback information, so as to further control the motor to perform a correct action. The power-assisted state of the hip joint is mainly divided into a flexion part and an extension part.

When the hip joint is bent, taking the right leg as an example, the right leg driving device 202 drives the right leg main shaft 24 to rotate forward, the bending assistance line 26 is tightened, the right leg driving device acts on the right leg input arm 21 after transmission to rotate forward, the right leg output arm 5 is driven to rotate forward, force finally acts on the right leg accommodating device 7, assistance is provided for the hip joint bending movement, and meanwhile the stretching assistance line 25 is loosened. When the hip joint is extended, the state is opposite to the state when the hip joint is bent, the right leg driving device 202 drives the right leg main shaft 24 to rotate reversely, the extension assisting line 25 is tightened, the assisting force is provided for the hip joint extension movement, and meanwhile, the bending assisting line 26 is loosened.

Before a user wears the exoskeleton robot, the exoskeleton robot needs to be adjusted to adapt to the stature of the user. Firstly, the relative positions of the right leg support fixing slide block and the right leg support fixing slide block on the support fixing rod 14 are adjusted, so that the distance between the two legs of the exoskeleton accords with the distance between the two legs of the exoskeleton. And then the relative angles of the right leg input arm connecting part 40 and the right leg dowel bar connecting part 41 are adjusted, so that the relative angles of the waist part and the leg parts of the exoskeleton conform to the body shape of the person. Finally the relative position between the right leg transfer lever attachment portion 41 and the right leg transfer lever 30 is adjusted to adjust the length of the exoskeleton to accommodate the length from the waist to the legs.

When wearing, the user needs to open the binding band 38 at the front portion of the right leg accommodating device 7, put the thigh into the right leg accommodating device 7, and then fasten the binding band 38, so that there is no relative sliding between the right leg accommodating device 7 and the thigh of the user and no tight binding feeling. After that, the waist belt 9 is fastened to the waist of the user by the belt buckle 8, and it is preferable that the relative slip and the tight feeling are not generated.

The exoskeleton reserves redundant freedom degree through the right leg joint group, so that a user can not be hindered by the exoskeleton robot when obtaining hip joint flexion and extension assistance, and hip joint full-freedom motion is realized.

When the extension aid line 25 provides hip joint extension motion aid and the flexion aid line 26 provides hip joint flexion aid, the mechanical structure of the exoskeleton remains rigid in the direction of the aid, ensuring that the aid can be transmitted to the human body.

When abduction or adduction of the hip joint is required, the relative rotation between the right leg output arm and the output arm fixture 29 and the relative sliding between the right leg slide sleeve 44 and the right leg slide 37 provide motion compensation for abduction and adduction of the hip joint, ensuring freedom of motion.

When the hip joint needs to perform internal rotation or external rotation movement, the relative rotation between the right leg slide rod sleeve 44 and the right leg slide rod 37, the relative rotation between the right leg fisheye bearing sleeve component 35 and the right leg slide rod sleeve 44, the three-degree-of-freedom relative rotation between the force transmission rod fixing device 34 and the right leg fisheye bearing sleeve component 35 and the relative sliding of the two components along the axial direction of the fixed shaft 36 can provide the movement compensation of the internal rotation and the external rotation of the hip joint, and ensure the movement freedom. In conclusion, the exoskeleton can realize the movement of the hip joint with full freedom degrees through redundant freedom degrees.

The application also provides a multi-redundancy-degree-of-freedom joint assembly which is the multi-redundancy-degree-of-freedom joint assembly.

This application has following advantage:

1. through reasonable structural layout, the main mass is concentrated near the center of gravity of the human body (the upper edge of the third sacral vertebra), and the mass on two sides of the human body is greatly reduced, so that the additional inertia of the system is minimized, the energy consumption is reduced, and the obstruction to the movement of the upper limbs is reduced.

2. The system adopts a high-efficiency transmission system formed by a special bowden-simulated wire-pulley-lever assembly, so that the power of a driving source (motor) arranged near the gravity center of a human body is transmitted to an end effector to the maximum extent, the single-motor control bidirectional power assisting is realized, the complexity of the control system is reduced, the cost is reduced, and the weight is reduced.

3. The motion range of the mechanical structure of the system covers the maximum motion range of the hip joint during the walking motion of the human body, the flexion and extension angle range of the system is-15 degrees to 45 degrees, the abduction and adduction angle range is-5 degrees to 90 degrees, and the internal rotation and external rotation angle range is-15 degrees to 15 degrees.

4. Designing the motion compatibility: 1) The user can manually adjust the relative position of the structure at the exoskeleton 3 according to the body size and the application purpose of the user, so that the range of the exoskeleton facing people is expanded; 2) The structural design freedom is redundant. Enough redundant freedom degree is reserved in the aspect of mechanism design, so that the hip joint cannot suffer from movement obstruction due to locking of a mechanical structure when moving under the assistance of exoskeleton, and the full-freedom-degree movement of the hip joint is realized.

5. Through the structural optimization design and the adoption of light materials such as carbon fiber plates and the like, the self weight of the hip joint exoskeleton is greatly reduced, and the energy consumption of a user is reduced.

Compared with the prior art, the hip joint motion degree of freedom simulation feedback control method has the following advantages that the structure optimization design and the feedback control of the hip joint motion degree of freedom simulation are adopted:

1. the main weight distribution is close to the gravity center of the human body, so that the human body is comfortable to wear, and the exercise enhancement effect is improved.

2. Compact structure and reduces the obstruction to the movement of the upper limbs.

3. The movement range covers the maximum movement range of the hip joint during the walking movement of the human body, and the movement obstruction is reduced.

4. The structure optimization design, the high efficiency transmission reduces the motor number, reduces weight, reduces the control degree of difficulty.

5. The two-way flexion and extension movement assistance is matched with the redundant degree of freedom, so that the flexibility of the exoskeleton robot is improved.

Although the present application has been described with reference to the preferred embodiments, it is not intended to limit the present application, and those skilled in the art can make variations and modifications without departing from the spirit and scope of the present application.

Finally, it should be pointed out that: the above examples are only used to illustrate the technical solutions of the present application, and are not intended to limit the same. Although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.

Claims

1. A hip joint exoskeleton movement assistance system, comprising a waist assembly and a leg assembly; wherein the leg assembly comprises:

a drive device;

the multi-redundant degree of freedom joint assembly enables the non-soft leg receiving device to have three directions of freedom for movement of the hip joint during motion.

2. A hip exoskeleton motion assistance system as claimed in claim 1 wherein the drive means comprises a right leg drive (2) and/or a left leg drive (202);

the non-soft leg accommodating device comprises a left leg accommodating device (71) and/or a right leg accommodating device (7);

the right leg driving device (2) is connected with the right leg force transmission group, and the left leg driving device (202) is connected with the left leg force transmission group;

the left leg accommodating device (71) is connected with the left leg joint output end of the left leg joint group, and the left leg force transmission group is connected with the left leg joint input end of the left leg joint group;

the right leg accommodating device (7) is connected with the right leg joint output end of the right leg joint group, and the right leg force transmission group is connected with the right leg joint input end of the right leg joint group.

3. The hip exoskeleton motion assistance system of claim 3 wherein the waist assembly comprises:

a belt (9);

the waist support, waistband (9) with waist support connection.

4. The assistance system for exoskeleton movement with hip joints according to claim 3 wherein the lumbar support comprises a lumbar inner fixing plate (11), a lumbar outer fixing plate (12), a support fixing rod (14);

the waist support further comprises a left leg support fixing slide block and/or a right leg support fixing slide block (13); wherein,

the waist belt (9) is arranged between the waist inner side fixing plate (11) and the waist outer side fixing plate (12);

the bracket fixing rod (14) is fixed on the waist outer side fixing plate (12);

the left leg support fixing sliding block and/or the right leg support fixing sliding block (13) are/is connected with the support fixing rod (14) through hole shaft matching.

5. The hip exoskeleton motion assist system of claim 4 wherein the left leg force transfer set comprises:

6. The hip exoskeleton motion assistance system of claim 5 wherein the right leg force transfer set comprises:

the right legrest assembly is connected with a support fixing rod (14) and is clamped by a right legrest fixing sliding block (13) along the axial direction, and the right leg driving device (202) is connected with the right legrest assembly;

the right leg main shaft (24), the right leg main shaft (24) is connected with the output end of the right leg driving device (202);

a right leg bearing assembly, wherein the right leg bearing assembly is arranged on the right leg bracket assembly, and a bearing inner ring of the right leg bearing assembly is connected with a right leg main shaft (24);

the right leg driving device (202) is used for providing rotating force for the right leg main shaft, and the right leg main shaft is used for driving the right leg power-assisted line assembly to move, so that the right leg power-assisted line assembly drives the right leg joint group to move, and the right leg joint group drives the right leg accommodating device to move in the hip joint extension direction or the hip joint flexion direction.

7. The hip exoskeleton motion assistance system of claim 5 or claim 6 wherein the left leg joint set comprises:

the left leg dowel bar comprises a left leg dowel bar input end and a left leg dowel bar output end, and the left leg dowel bar input end is connected with the left leg output arm output end;

8. The hip exoskeleton motion assistance system of claim 6 wherein the right leg joint set comprises:

the right leg input arm assembly (21) comprises a right leg input arm input end and a right leg input arm output end, and the right leg input arm input end is connected with the right leg power assisting line output end;

the right leg output arm assembly (5) comprises a right leg output arm input end and a right leg output arm output end, and the right leg output arm input end is connected with the right leg input arm assembly (21);

a right leg clamping assembly (9) clamping the right leg input arm assembly and the right leg input arm assembly;

the right leg dowel bar (30), the right leg dowel bar (30) comprises a right leg dowel bar input end and a right leg dowel bar output end, and the right leg dowel bar input end is connected with the right leg output arm output end;

the output end of the right leg force transmission rod piece is connected with the right leg force transmission rod piece fixing device (34);

the right leg fisheye bearing sleeve component (35), a right leg force transmission rod piece fixing device (34) is connected with a bearing inner ring of the right leg fisheye bearing sleeve component (35) through a fixing shaft (36);

a right leg slide bar sleeve (44), said right leg slide bar sleeve (44) being connected to the right leg fisheye bearing sleeve assembly (35) and the right leg receptacle (7), respectively;

right leg slide bar (37), right leg slide bar (37) cover is established in the shaft hole of right leg slide bar sleeve (44), right leg slide bar with right leg slide bar sleeve hole axle cooperation, right leg slide bar with right leg accommodate device connects.

9. The hip-joint exoskeleton motion assistance system of any one of claims 1 to 8 further comprising:

a controller connected with the left leg drive and/or the right leg drive;

an inertial measurement unit (33), the inertial measurement unit (33) being connected with the controller;

the force sensor (22) comprises a left leg force sensor and a right leg force sensor, and the left leg force sensor is connected with the left leg input arm and used for acquiring the stress information of the left leg input arm; the right leg force sensor is connected with the right leg input arm and used for acquiring stress information of the right leg input arm.

10. A multi-redundant degree of freedom joint assembly characterized in that it is a multi-redundant degree of freedom joint assembly according to any one of claims 1 to 9.