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Single-lower-limb exoskeleton orthopedic apparatus and orthopedic control method

A technology of exoskeleton and orthosis, which is applied in the field of single lower extremity exoskeleton orthosis and orthopedic control, which can solve problems such as large size and mass, unstable center of gravity, and stiff left posture, and achieve light structure, weight reduction, and easy wear Effect

Active Publication Date: 2017-05-10
BEIJING FORESTRY UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a single lower extremity exoskeleton orthosis and an orthopedic control method to solve the problem that the existing orthotics have large size and mass, and the motor-driven hydraulic cylinder forcibly drives people to walk when the piston moves, which easily causes the center of gravity to be unstable. , the problem of stiff posture on the left side

Method used

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  • Single-lower-limb exoskeleton orthopedic apparatus and orthopedic control method
  • Single-lower-limb exoskeleton orthopedic apparatus and orthopedic control method

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Embodiment 1

[0041] like Figure 1-4 As shown, the single lower limb exoskeleton orthosis provided by the embodiment of the present invention includes a support mechanism, an adjustment mechanism and a control mechanism.

[0042] The support mechanism includes a thigh support part 1, a calf support part 2 and a sole support part 3, wherein the thigh support part 1 and the calf support part 2 are connected through a knee joint rotating shaft 4, and the calf support part 2 is connected to the calf support part 2. The sole support part 3 is connected through an adjustable connecting piece.

[0043] The adjustment mechanism includes a hydraulic damper 5, and the two ends of the hydraulic damper 5 are connected to the thigh support part 1 and the calf support part 2 respectively. like Figure 3-4 As shown, the hydraulic damper 5 includes a piston cylinder 501 and a proportional valve 502 connected with the piston cylinder 501, wherein the piston cylinder 501 is provided with a first oil chamb...

Embodiment 2

[0057] The present invention also provides a method for orthopedic control using the single lower extremity exoskeleton orthosis described in the first embodiment above. It is fixed on the lower limbs of the human body. During the walking process of the human body, the piston rod in the hydraulic damper 5 will perform a corresponding telescopic movement in accordance with the walking state of the human body. Then described control method specifically comprises the following steps:

[0058] The plantar pressure sensor 6 detects plantar pressure data in real time, and transmits the detected plantar pressure data to the controller 9 .

[0059] The knee joint angle sensor 7 detects knee bending angle data in real time, and transmits the detected knee bending angle data to the controller 9 .

[0060] The piston rod thrust sensor 8 detects the piston rod thrust data of the hydraulic damper in real time, and transmits the detected piston rod thrust data to the controller 9 .

[006...

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Abstract

The invention relates to the technical field of orthopedic apparatuses, and in particular to a single-lower-limb exoskeleton orthopedic apparatus and an orthopedic control method. The orthopedic apparatus comprises a supporting mechanism, an adjusting mechanism and a control mechanism, wherein the supporting mechanism comprises a thigh supporting part, a calf supporting part and a planta supporting mechanism; the thigh supporting part and the calf supporting part are connected by virtue of a knee joint rotating shaft; the calf supporting part and the planta supporting part are connected; the adjusting mechanism comprises a hydraulic damper; two ends of the hydraulic damper are connected to the thigh supporting part and the calf supporting part; and the control mechanism comprises plantar pressure sensors, a knee joint angle sensor, a piston rod thrust sensor and a controller. The orthopedic apparatus provided by the invention can timely sense a human walking state and adjust the stretching rate of the hydraulic damper , so that piston motions of the hydraulic damper can passively adapt to the human walking status and can be adjusted in accordance with a walking speed; therefore, free walking of a human body can be kept to the greatest extent, and stability can be guaranteed.

Description

technical field [0001] The invention relates to the technical field of orthotics, in particular to a single lower limb exoskeleton orthosis and an orthotic control method. Background technique [0002] Human lower extremity exoskeleton orthosis is a wearable mechanical assist device, mainly used in the military and medical fields. In the military field, it is used to assist soldiers to carry weapons that exceed the human body load. Apparatus to assist patients in their rehabilitation. Therefore, based on the above applications, the lower extremity exoskeleton orthosis needs to be flexible, comfortable to wear, and light in weight. After wearing the exoskeleton orthosis, it can assist the human body to walk, or the human body can walk under overload. [0003] Existing lower extremity exoskeleton The existing lower extremity exoskeleton orthosis usually uses a motor to drive a hydraulic cylinder to adjust and control the orthosis. Telescopic movement to realize the control a...

Claims

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Application Information

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IPC IPC(8): A61F5/01
CPCA61F5/0102A61F2005/0165A61F2005/0176A61F2005/0181
Inventor 闫磊吴健范磊伍宏芳王方政吕洋
Owner BEIJING FORESTRY UNIVERSITY
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