CN113580100B - Passive load-bearing motorized exoskeleton - Google Patents
Passive load-bearing motorized exoskeleton Download PDFInfo
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- CN113580100B CN113580100B CN202110717443.2A CN202110717443A CN113580100B CN 113580100 B CN113580100 B CN 113580100B CN 202110717443 A CN202110717443 A CN 202110717443A CN 113580100 B CN113580100 B CN 113580100B
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- 230000007246 mechanism Effects 0.000 claims abstract description 87
- 210000001624 hip Anatomy 0.000 claims abstract description 76
- 210000004394 hip joint Anatomy 0.000 claims abstract description 45
- 210000003423 ankle Anatomy 0.000 claims abstract description 33
- 210000000629 knee joint Anatomy 0.000 claims abstract description 33
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 28
- 210000003127 knee Anatomy 0.000 claims abstract description 28
- 238000004146 energy storage Methods 0.000 claims abstract description 16
- 210000002683 foot Anatomy 0.000 claims abstract description 12
- 210000000689 upper leg Anatomy 0.000 claims description 18
- 238000005452 bending Methods 0.000 claims description 8
- 230000009471 action Effects 0.000 claims description 6
- 230000000694 effects Effects 0.000 description 5
- 238000005265 energy consumption Methods 0.000 description 3
- 206010073713 Musculoskeletal injury Diseases 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 230000002503 metabolic effect Effects 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 206010060820 Joint injury Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000004308 accommodation Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004118 muscle contraction Effects 0.000 description 1
- 238000005381 potential energy Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
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Abstract
The application discloses a passive load-bearing motorized exoskeleton, which comprises a backboard, a waist and back connecting mechanism, a hip assisting mechanism, a knee assisting mechanism, an ankle assisting mechanism and a foot support, wherein the backboard is connected with the hip assisting mechanism through the waist and back connecting mechanism, the hip assisting mechanism is connected with the knee assisting mechanism, the knee assisting mechanism is connected with the ankle assisting mechanism, and the ankle assisting mechanism is connected with the foot support; the hip assisting mechanism, the knee assisting mechanism and the ankle assisting mechanism can respectively drive the hip joint, the knee joint and the ankle joint of a human body to act, and are respectively provided with an elastic energy storage unit, and each joint is elastically assisted by the elastic energy storage unit. The application adopts passive driving, does not need electric power for cruising, has flexibility and stability, can flexibly move along with a human body while supporting a load, and has the functions of relieving the fatigue of walking with the load by arranging the elastic booster mechanisms on the hip joint, the knee joint and the ankle joint.
Description
Technical Field
The application relates to the technical field of exoskeletons, in particular to a passive load-bearing motorized exoskeletons.
Background
In the places where large carrying equipment such as highland border, jungle mountain land, earthquake disaster areas and the like are difficult to play a role, tasks such as material bearing, rescue and the like provide great challenges for the loading machine capability of staff. The weight can increase physical energy consumption, influence the ability of exercising, and simultaneously the too big weight or too long time weight can cause the injury to the health, causes muscle, joint injury. The active exoskeleton has a complex structure, is driven by a driving motor and the like, has the problems of insufficient endurance, flexible movement, and the like, and is difficult to apply to the outdoor carrying and rescue scene.
Disclosure of Invention
Aiming at the problems existing in the prior art, the application aims to provide the passive load motor-driven exoskeleton which has a simple structure and flexibility and stability.
In order to achieve the above object, the passive load-bearing motorized exoskeleton of the present application comprises a back plate, a waist-back connection mechanism, a hip assistance mechanism, a knee assistance mechanism, an ankle assistance mechanism and a foot support, wherein the back plate is connected with the hip assistance mechanism through the waist-back connection mechanism, the hip assistance mechanism is connected with the knee assistance mechanism, the knee assistance mechanism is connected with the ankle assistance mechanism, and the ankle assistance mechanism is connected with the foot support; the hip assisting mechanism, the knee assisting mechanism and the ankle assisting mechanism can respectively drive the hip joint, the knee joint and the ankle joint of a human body to act, and the hip assisting mechanism, the knee assisting mechanism and the ankle assisting mechanism are respectively provided with an elastic energy storage unit, and each joint is elastically assisted by the elastic energy storage unit.
Further, the waist and back connecting mechanism comprises a back connecting piece, a waist connecting piece and a sliding pair, wherein the back connecting piece is fixed on the backboard, the waist connecting piece is fixed on the hip assisting mechanism, the sliding pair is arranged between the back connecting piece and the waist connecting piece, and the back connecting piece and the waist connecting piece relatively slide through the sliding pair.
Further, the sliding pair comprises a sliding block and a guide rail, the guide rail is arranged on the back connecting piece, the sliding block is arranged on the guide rail in a sliding mode, and the back connecting piece is rotatably arranged on the sliding block.
Further, limiting structures for limiting the maximum sliding position of the sliding block are arranged on two sides of the guide rail.
Further, a foldable bracket is arranged on the backboard.
Further, the hip power assisting mechanism comprises a hip support, a first elastic element, a hip joint and a connecting piece, one end of the first elastic element is connected to the hip joint frame, the other end of the first elastic element is connected to the hip joint, the connecting piece connects the hip joint with a thigh rod, the hip joint is arranged on the hip joint frame and can rotate around a coronal axis, a vertical axis and a sagittal axis, and the first elastic element is used for elastic energy storage and power assisting along with the sagittal in-plane bending and stretching action of the hip joint.
Further, the hip support is connected with a waist connecting piece, the hip support is provided with a connecting plate connected with the waist connecting piece, the waist connecting piece is provided with a chute matched with the connecting plate, and the width of the hip support is adjusted by adjusting the length of the connecting plate extending into the chute.
Further, a sliding groove is formed in the connecting piece, and the length of the thigh rod is adjusted by adjusting the length of the thigh rod inserted into the sliding groove.
Further, knee assist mechanism includes second elastic element, knee joint and stopper, the one end of second elastic element is connected with the thigh pole, the other end of second elastic element with knee joint is connected, one side of knee joint is provided with prevent that the knee joint is stretched excessively the stopper, knee joint and shank pole rotate to be connected, the second elastic element is along with the action of stretching of knee joint sagittal plane is elasticity energy storage and helping hand.
Further, ankle assist mechanism includes ankle bracket, third elastic component and ankle joint, the one end of third elastic component is connected with the shank pole, the other end of third elastic component with the ankle joint is connected, the ankle joint can rotate around coronal, sagittal axis, the third elastic component is along with the flexion and extension action of ankle joint sagittal plane is elasticity energy storage and helping hand.
The mechanical connection and the passive driving are adopted among the mechanisms, the electric power is not needed for endurance, the flexible and stable effects are achieved, the flexible movement along with a human body can be achieved while the load is supported, and the elastic power assisting mechanisms are arranged on the hip joint, the knee joint and the ankle joint, so that the wearing comfort is improved, and the effects of reducing the metabolic energy consumption, protecting the musculoskeletal injury and relieving fatigue are achieved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application as claimed.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIGS. 1-2 are schematic structural views of a passive weight-bearing motorized exoskeleton according to an embodiment of the present application;
fig. 3 is a schematic structural view of a waist-back connection mechanism according to an embodiment of the present application;
FIG. 4 is a schematic view of a bracket according to an embodiment of the present application;
FIGS. 5-6 are schematic views of a hip assist mechanism according to an embodiment of the present application;
FIGS. 7 to 8 are schematic structural views of a knee assist mechanism according to an embodiment of the present application;
FIG. 9 is a schematic view of an ankle support and ankle support according to an embodiment of the application
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments may be embodied in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art.
In describing embodiments of the present application, it should be noted that, unless explicitly stated and limited otherwise, the term "coupled" should be interpreted broadly, for example, as being fixedly coupled, detachably coupled, integrally coupled, mechanically coupled, electrically coupled, directly coupled, or indirectly coupled via an intermediate medium. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
The terms "top," "bottom," "above … …," "below," and "above … …," "side-to-side," "up-down" are relative positions with respect to components of the device, such as the relative positions of the top and bottom substrates inside the device, as used throughout the description. It will be appreciated that the devices are versatile, irrespective of their orientation in space.
The terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or number of technical features indicated. Thus, a feature of a "first" or "second" as defined may include one or more such feature, either explicitly or implicitly. In the description of the present application, unless otherwise indicated, the meaning of "a plurality" is two or more.
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the embodiments of the present application will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 and 2, the passive load-bearing motorized exoskeleton of the present application comprises a back plate 1, a waist-back connection mechanism 2, a hip assistance mechanism 4, a knee assistance mechanism 5, an ankle assistance mechanism 6 and a foot support 7, wherein the back plate 1 is connected with the hip assistance mechanism 4 through the waist-back connection mechanism 2, the hip assistance mechanism 4 is connected with the knee assistance mechanism 5, the knee assistance mechanism 5 is connected with the ankle assistance mechanism 6, and the ankle assistance mechanism 6 is connected with the foot support 7; the hip assisting mechanism 4, the knee assisting mechanism 5 and the ankle assisting mechanism 6 can respectively drive the hip joint, the knee joint and the ankle joint of a human body to act, and the hip assisting mechanism 4, the knee assisting mechanism 5 and the ankle assisting mechanism 6 respectively have elastic energy storage units, and each joint is elastically assisted by the elastic energy storage units.
As shown in fig. 3, the lumbar-back connection mechanism 2 includes a back connection member 21, a lumbar connection member 22, and a sliding pair, the back connection member 21 is fixed on the back plate 1, the lumbar connection member 22 is fixed on the hip assist mechanism 4, the sliding pair is disposed between the back connection member 21 and the lumbar connection member 22, and the back connection member 21 and the lumbar connection member 22 slide relatively through the sliding pair. Through setting up slip pair with back connecting piece 21 and waist connecting piece sliding connection, can follow crooked self-adaptation adjustment position and the gesture of user's waist back to reduce the uncomfortable sense of truck, solved the limited problem of traditional integral type ectoskeleton backpack system upper body trunk flexibility ratio, improved the wearing travelling comfort of wearer. Specifically, the sliding pair comprises a sliding block 23 and a guide rail 24, the guide rail 24 is arranged on the back connecting piece 21, the sliding block 23 is arranged on the guide rail 24 in a sliding manner, a through hole is formed in the back connecting piece 21, a boss matched with the through hole is arranged on the sliding block 23, the boss is arranged in the through hole and is fastened by a locking screw arranged at the end part, the back connecting piece 21 and the sliding block 23 can be connected, the reliability of connection between the back connecting piece 21 and the sliding block 23 is improved, the back connecting piece 21 can swing left and right around the boss, and the position and the posture can be adjusted in a bending and self-adaptive manner along with the waist of a user around a sagittal axis. In addition, the two sides of the guide rail 24 are provided with a limiting structure for limiting the maximum sliding position of the sliding block 23, for example, a limiting plate 25 arranged on the lower side of the guide rail 24, so that the sliding block 23 can be prevented from falling out from the lower side of the guide rail 24.
As shown in fig. 4, the back plate 1 can be provided with a folding bracket 3, the folding bracket 3 can bear a weight when unfolded, and the folding bracket 3 can be folded when the weight is not needed to be borne. The folding bracket 3 comprises a connecting rod 31, an adapter 32 and a bracket disc 33, one end of the connecting rod 31 is fixedly connected with an ear seat on the back connecting piece 21, the other end of the connecting rod is connected with the adapter 32, and the bracket disc 33 is hinged with the adapter 32 to fold the bracket disc 33. By adopting the adapter 32 connection between the connecting rod 31 and the bracket disc 33, the folding bracket 3 can be ensured to be mounted on the back plate, and the interference of the waist connecting piece 22 on the mounting of the folding bracket can be avoided, so that the mounting structure between the waist and back connecting mechanism and the folding bracket is more compact. In addition, the folding bracket 3 is fixedly connected with the back connecting piece 21, so that the load acting force when carrying a weight can be transmitted to the lower limb bearing structure through the waist and back connecting mechanism 2, and most of shoulder pressure is shared.
As shown in fig. 5 and 6, the hip assistance mechanism 4 includes a hip bracket 41, a first elastic element 42, a hip joint 43, and a connecting piece 44, one end of the first elastic element 42 is connected to the hip joint 43 frame, the other end of the first elastic element 42 is connected to the hip joint 43, the connecting piece 44 connects the hip joint 43 with a thigh rod, the hip joint 43 is disposed on the hip joint 43 frame and can rotate around a coronal axis, a vertical axis, and a sagittal axis, and the first elastic element 42 performs elastic energy storage and assistance along with the sagittal in-plane flexion and extension of the hip joint 43. Specifically, the hip joint 43 includes an upper joint 431 and a lower joint 432, the upper joint 431 has an ear plate, a front hanging rod is disposed between the ear plates, one end of the first elastic element 42 is hooked on the front hanging rod, the upper joint 431 has a through hole penetrating the first rotating shaft 433, and the first rotating shaft 433 penetrates the through hole and mounts the upper joint 431 on the hip bracket 41. The upper joint 431 and the lower joint 432 are hollow, a second rotating shaft 434 is arranged in the upper joint 431 and the lower joint 432, the second rotating shaft 434 is supported by a flange self-lubricating shaft sleeve 435 between the upper joint 431 and the lower joint 432, a through hole penetrating through a third rotating shaft 436 is formed in the lower joint 432, the through hole of the lower joint 432 and the through hole on the connecting piece 44 are matched to penetrate through the third rotating shaft 436 to connect the hip joint 43 with the upper end of the connecting piece 44, the lower end of the connecting piece 44 is connected with a thigh rod, and therefore the hip joint 43 is connected with the thigh rod through the connecting piece 44. The first rotation shaft 433 is provided in the left-right direction, and the hip joint 43 can be rotated around the first rotation shaft 433 to achieve the degree of freedom of hip joint flexion and extension. The second rotation shaft 434 is disposed in a vertical direction, and the hip joint 43 can achieve the degree of freedom of the hip joint to rotate inward and outward when rotating around the second rotation shaft 434. The third rotation axis 436 is disposed in the front-rear direction, and the hip joint 43 can be rotated about the third rotation axis 434 to achieve the degree of freedom of hip joint inner-outer extension. By arranging the first elastic element 42 and the three-degree-of-freedom movement of the hip joint 43, the hip joint movement can be simultaneously assisted by the first elastic element 42 when the hip joint moves, and from the angles of energy recovery and utilization at the hip joint, partial energy which swings the thigh forwards and backwards is recovered by using the energy storage spring, so that the hip joint can be assisted to do negative work while stretching and storing energy along with the joint extension in the hip joint negative work interval, and then the stored elastic potential energy can be released along with the joint buckling in the hip joint positive work interval to assist the hip joint to do positive work. Meanwhile, when the hip joint spring stands, the pre-stored tension force is used for generating moment to help the waist and shoulder muscles balance the rear overturning moment generated by the back load of the part, so that the fatigue of hip movement is relieved.
The hip support 41 is connected with the waist connecting piece 22, the hip support 41 is provided with a connecting plate 411 connected with the waist connecting piece 22, the waist connecting piece 22 is provided with a sliding groove matched with the connecting plate 411, and the width of the hip support 41 is adjusted by adjusting the length of the connecting plate 411 extending into the sliding groove. The connecting piece 44 is provided with a sliding groove, and the length of the thigh rod is adjusted by adjusting the length of the thigh rod inserted into the sliding groove. The width of hip and shank length set up to adjustable, can adapt to different people's wearing needs, have improved wearing flexibility and comfort level.
As shown in fig. 7 and 8, the knee assist mechanism 5 includes a second elastic element 51, a knee joint 52 and a stopper 53, one end of the second elastic element 51 is connected with a thigh rod, the other end of the second elastic element 51 is connected with the knee joint 52, the stopper 53 for preventing the knee joint 52 from extending excessively is disposed on one side of the knee joint 52, the knee joint 52 is rotatably connected with a shank rod, and the second elastic element 51 performs elastic energy storage and assistance along with the action of the knee joint 52. Specifically, one end of the second elastic member 51 is hung on a hanging ring on the thigh bar, and the other end of the second elastic member 51 is hung in a bar-shaped hole on the knee joint 52 through a pull ring, and the knee joint 52 is rotatably connected to the shank bar through a joint shaft 54 provided in the left-right direction. Rotation of the knee joint 52 about the joint axis 54 may provide flexion-extension accommodation of the knee. The knee joint flexes at the moment of knee joint touchdown, the spring stretches, the centrifugal contraction of muscle is simulated, auxiliary braking is carried out on the movement of the knee joint, and the impact damage protection effect is achieved. When the knee joint goes up a step or a slope, the knee joint flexes and stretches the spring to store energy, and then the knee stretching moment is provided, so that the joint assistance effect is achieved. The spring arm of force is along with the angle self-adaptation adjustment of bending knee, keeps great arm of force when the angle of bending knee is little, and when the angle of bending knee is too big, the spring hanging point slides to bar downthehole side, and the arm of force reduces, reduces the resistance of bending knee, improves the wearing travelling comfort, reaches the balance of loadability and flexibility. The inner side of the thigh bar is also provided with a lining plate 8 for supporting and protecting the thigh.
As shown in fig. 9, the ankle assisting mechanism 6 includes an ankle brace 61, a third elastic member 62, and an ankle joint 63, one end of the third elastic member is connected to the shank, the other end of the third elastic member is connected to the ankle joint, the ankle joint is rotatable about a coronal axis and a sagittal axis, and the third elastic member performs elastic energy storage and assistance in accordance with the movement of the ankle joint. Specifically, the third elastic member 62 may include two springs, one ends of which are connected to the shank, and the other ends of which are connected to the ankle joint 63, the ankle brace 61 is shaped to support the ankle in a shape matching with the ankle, the ankle joint 63 is provided with a first joint shaft 64 provided in the front-rear direction, the ankle joint 63 is provided with a ring 631, and the lower end of the ankle brace 61 is hinged to the ring 631 through a second joint shaft 65 provided in the left-right direction. The first joint shaft 64 is provided in the anterior-posterior direction, and the ankle joint 63 can achieve a degree of freedom of intra-articular abduction when rotated about the first joint shaft 64. The second joint shaft 65 is provided in the left-right direction, and the ankle joint 63 can achieve flexibility in joint flexion and extension when rotating around the second joint shaft 65. By arranging the third elastic element 63 and the two-degree-of-freedom movement of the ankle joint 63, the hip joint movement is considered, meanwhile, the ankle joint movement can be assisted by the third elastic element 62 when the ankle joint moves, in walking gait, the support phase ankle joint dorsiflexes, the spring is continuously stretched for storing energy, and the spring energy is released at the moment of pedaling, so that the foot pedal assistance is provided for the ankle. Relieving fatigue of ankle movement. The shank is also provided with a lining plate 9 for supporting and protecting the shank.
In addition, a connecting piece connected with the shank is provided on the ankle support 61, a slide groove is provided on the connecting piece, and the length of the shank is adjusted by adjusting the length of the shank inserted into the slide groove. The shank length is set to be adjustable, can adapt to different people's dress needs, has improved and has dressed flexibility and comfort level.
The foot support 7 comprises a heel support 71 and a front foot plate 72, a spring piece 73 is arranged between the heel support 71 and the front foot plate 72 to support, and the spring piece 73 is used for buffering and rebounding assistance.
In summary, all mechanisms of the application are mechanically connected and driven passively, electric power is not needed for cruising, the application has flexibility and stability, can flexibly move along with a human body while supporting a load, and elastic booster mechanisms are arranged at hip joints, knee joints and ankle joints, so that the movement resistance can be reduced, the wearing comfort is improved, and the effects of reducing metabolic energy consumption, protecting musculoskeletal injury and relieving fatigue are achieved.
Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It is to be understood that the application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (6)
1. The passive load-bearing motorized exoskeleton is characterized by comprising a backboard, a waist and back connecting mechanism, a hip assisting mechanism, a knee assisting mechanism, an ankle assisting mechanism and a foot support, wherein the backboard is connected with the hip assisting mechanism through the waist and back connecting mechanism, the hip assisting mechanism is connected with the knee assisting mechanism, the knee assisting mechanism is connected with the ankle assisting mechanism, and the ankle assisting mechanism is connected with the foot support; the hip assistance mechanism, the knee assistance mechanism and the ankle assistance mechanism can respectively drive the hip joint, the knee joint and the ankle joint of a human body to act, and are respectively provided with an elastic energy storage unit, and each joint is elastically assisted by the elastic energy storage unit;
the waist and back connecting mechanism comprises a back connecting piece, a waist connecting piece and a sliding pair, wherein the back connecting piece is fixed on the backboard, the waist connecting piece is fixed on the hip assisting mechanism, the sliding pair is arranged between the back connecting piece and the waist connecting piece, and the back connecting piece and the waist connecting piece relatively slide through the sliding pair;
the sliding pair comprises a sliding block and a guide rail, the guide rail is arranged on the back connecting piece, the sliding block is arranged on the guide rail in a sliding manner, the back connecting piece is a T-shaped structural piece consisting of a vertical piece and a horizontal piece, a through hole is formed in one end of the vertical piece of the T-shaped structural piece, a boss matched with the through hole is arranged on the sliding block, the boss is arranged in the through hole, and a locking screw is arranged at the end part of the boss to fasten the boss so that the T-shaped structural piece can be rotatably arranged on the sliding block; the back connecting piece and the waist connecting piece are connected in a sliding way through the sliding pair so as to be bent along with the waist and back part to adaptively adjust the position and the posture; the foldable bracket comprises a connecting rod, a connector and a bracket disc, one end of the connecting rod is fixedly connected with two ear seats arranged on two sides of a back connecting piece guide rail, the other end of the connecting rod spans over a waist connecting piece and is connected with an adapter positioned on the outer side of the waist connecting piece, and the bracket disc is hinged with the adapter;
the hip assisting mechanism comprises a hip support, a first elastic element, a hip joint and a connecting piece, one end of the first elastic element is connected to the hip support, the other end of the first elastic element is connected to the hip joint, the connecting piece connects the hip joint with a thigh rod, the hip joint is arranged on the hip support and can rotate around a coronal axis, a vertical axis and a sagittal axis, and the first elastic element is used for elastic energy storage and assisting along with the sagittal in-plane bending and stretching action of the hip joint.
2. The passive weight-bearing motorized exoskeleton of claim 1, wherein the rail is provided with a limit structure on both sides that limits the maximum sliding position of the slider.
3. The passive weight-bearing motorized exoskeleton of claim 1, wherein the hip bracket is connected to a waist connector, a connecting plate connected to the waist connector is provided on the hip bracket, a sliding slot matching with the connecting plate is provided on the waist connector, and the width of the hip bracket is adjusted by adjusting the length of the connecting plate extending into the sliding slot.
4. The passive weight-bearing motorized exoskeleton of claim 1, wherein the connector has a sliding slot, and the length of the thigh bar is adjusted by adjusting the length of the thigh bar inserted into the sliding slot.
5. The passive weight-bearing motorized exoskeleton of claim 1, wherein the knee power assisting mechanism comprises a second elastic element, a knee joint and a limiting block, one end of the second elastic element is connected with a thigh rod, the other end of the second elastic element is connected with the knee joint, the limiting block for preventing the knee joint from overstretching is arranged on one side of the knee joint, the knee joint is rotatably connected with a shank rod, and the second elastic element is used for elastically storing energy and assisting with the bending and stretching action of the sagittal plane of the knee joint.
6. The passive weight-bearing motorized exoskeleton of claim 1 wherein the ankle assist mechanism comprises an ankle brace, a third elastic member, and an ankle joint, one end of the third elastic member being connected to the shank, the other end of the third elastic member being connected to the ankle joint, the ankle joint being rotatable about a coronal axis and a sagittal axis, the third elastic member being elastically energy-storing and assisting in response to flexion and extension of the sagittal plane of the ankle joint.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110717443.2A CN113580100B (en) | 2021-06-28 | 2021-06-28 | Passive load-bearing motorized exoskeleton |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110717443.2A CN113580100B (en) | 2021-06-28 | 2021-06-28 | Passive load-bearing motorized exoskeleton |
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| CN113580100A CN113580100A (en) | 2021-11-02 |
| CN113580100B true CN113580100B (en) | 2023-10-27 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113858256B (en) * | 2021-08-30 | 2023-06-02 | 北京机械设备研究所 | Three-degree-of-freedom passive energy storage assisted exoskeleton hip joint |
| CN114918901A (en) * | 2022-05-07 | 2022-08-19 | 中国人民解放军陆军军医大学 | Exoskeleton device |
| CN115582825B (en) * | 2022-12-12 | 2024-03-15 | 杭州智元研究院有限公司 | Passive lower limb exoskeleton |
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