Anti-destabilization framework type walking assisting legs

A frame-based, loss-proof technology, applied in the field of robotics, can solve problems such as overcoming obstacles and difficulty in going up and down stairs, and achieves the effect of improving walking ability and ability expansion.

Inactive Publication Date: 2012-05-09
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Although wheelchairs can easily transport the elderly and the disabled, they have great difficulty in crossing obstacles and going up and down stairs

Method used

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  • Anti-destabilization framework type walking assisting legs
  • Anti-destabilization framework type walking assisting legs
  • Anti-destabilization framework type walking assisting legs

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0024] see figure 1 — Figure 6 , the anti-instability frame-type walking aid leg, including a detachable mobile frame (1) and an exoskeleton mechanical leg (2), in which there are two connecting seats (3) and a A connecting long rod (5) is connected with two connecting frames (6); and the two connecting frames (6) are respectively connected with the two exoskeleton mechanical legs (2). Between the long connecting rod (5) and the installation hole of the universal joint (7) on the frame (1), there is an empty sleeve fit, so that the frame can rotate around the connecting long rod (5), so that the detachable The front part of the mobile frame (1) can be opened and closed freely in the horizontal direction. The two exoskeleton mechanical legs (2) are hinged with the connecting frame (6) through the thigh skeleton (20) through the hip joint (18), and the thigh skeleton (20) through the knee joint (22) and the lower leg skeleton (23) Hinged, the lower leg frame (23) is hinged t...

Embodiment 2

[0026] This embodiment is basically the same as Embodiment 1, and the special features are as follows:

[0027] see figure 2 — Figure 5 , the structure of the detachable movable frame is: using eight right-angle joints (8) and four four-way joints (10) to connect two upper cross bars (9), two lower cross bars (13), and the front upper The cross bar (11), the front lower cross bar (15) and four longitudinal bars (16) join together to form a rectangular frame with two layers of cross bars. The universal wheel (17), the upper horizontal bar of the frame (1) and the connecting rod (5) are connected by a universal joint (7), and the installation hole of the universal joint (7) is connected with the connecting rod (5) An empty sleeve is used between the outer diameters, so that the whole frame can rotate around the connecting rod. The upper cross bar (11) and the lower cross bar (15) at the front of the frame are cut off from it, and small vertical bars (14) are added on both s...

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Abstract

The invention relates to anti-destabilization framework type walking assisting legs which comprise a detachable moving framework and two exoskeleton pedipulators; two connecting seats and a connecting long rod connected with the two connecting frame are arranged in the detachable moving framework; two connecting frames are connected with the two exoskeleton pedipulators respectively; the connecting long rod is hollowly sleeved and matched with mounting holes of universal joints on the framework; the two exoskeleton pedipulators are formed by hinging thigh skeletons with a hip joint through the connecting frames, the thigh skeletons are hinged with crus skeletons through knee joints, and the crus skeletons are hinged with feet through ankle joints, wherein all the joints are driven by an elastic linear driver; and a strengthening rod is connected with the two connecting seats. According to the invention, the exoskeleton pedipulators are organically combined with a walker and a walking stick, and the advantages of the exoskeleton pedipulators, the walker and the walking stick are fully utilized to help old persons with weak leg strength or poor equilibrium sense and persons having disabled lower limbs to have difficulty in walking to improving the walking capability, so that the capabilities of the persons can be expanded.

Description

technical field [0001] The invention relates to an anti-instability frame-type walking aid leg, which is composed of a detachable mobile support frame and two exoskeleton mechanical legs with six active degrees of freedom, and belongs to the field of robots. Background technique [0002] With the continuous advancement of science and technology, human beings have developed various advanced means of transportation to improve the freedom of movement of the elderly and people with lower limbs and help them improve their walking ability. Currently, the walking aids for the elderly and the disabled are mainly wheelchairs, but the Exoskeleton (Exoskeleton) and Hybrid Assistive Leg (HAL, Hybrid Assistive Leg) recently developed by the United States, Japan and Israel also play a big role in helping the elderly and the disabled. application prospects. Although wheelchairs can easily replace the elderly and the disabled, they have great difficulty in crossing obstacles and g...

Claims

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Application Information

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IPC IPC(8): A61H3/04A61H3/02
Inventor 邵文韫钱晋武沈林勇章亚男钟翠华任昭霖
Owner SHANGHAI UNIV
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