CN-114795834-B - Non-external force driven flexible exoskeleton walker

Abstract

The invention discloses a non-external force driven flexible exoskeleton walker which comprises a flexible binding unit and a power assisting unit, wherein the power assisting unit is connected with the flexible binding unit, the flexible binding unit comprises a waist binding belt fixed on the waist and abdomen of a human body, a first binding belt fixed on a healthy limb and a second binding belt fixed on a wounded limb, the power assisting unit comprises a driving power line and a driven power line, the driving power line is respectively connected with the waist binding belt, the first binding belt and the second binding belt, the driven power line is respectively connected with the waist binding belt and the second binding belt, the healthy limb provides driving power for the wounded limb through the driving power line to enable the wounded limb to move relatively, and the wounded limb moves relatively along with the movement of the wounded limb through the driven power line. Through the structural arrangement of the invention, the two-way motion assistance of the hip joint buckling, the knee joint and the ankle joint of the affected limb is realized by taking the healthy limb as a power source and potential energy generated by the motion of the healthy limb and waist muscle strength.

Inventors

• CHEN LUFEI

Assignees

• 陈陆飞

Dates

Publication Date

20260508

Application Date

20220422

Claims (1)

1. 1. A non-externally driven flexible exoskeleton walker, comprising: A flexible binding unit (1) connected with a power assisting unit (2) of the flexible binding unit (1); The flexible binding unit (1) comprises a waist binding belt (101) fixed at the waist and abdomen of a human body, a first binding belt (102) fixed on a healthy limb and a second binding belt (103) fixed on an affected limb; the power assisting unit (2) comprises a driving power assisting line (201) and a driven power assisting line (202); The driving assistance line (201) is respectively connected with the waist binding belt (101), the first binding belt (102) and the second binding belt (103), and the driven assistance line (202) is respectively connected with the waist binding belt (101) and the second binding belt (103); The driving assistance line (201) connected with the healthy limb can provide direct assistance for the patient limb to walk, and the driven assistance line (202) connected with the patient limb provides auxiliary assistance in the movement process of the patient limb; The first binding band (102) comprises a first thigh binding band which is worn and bound on a healthy leg, the second binding band (103) comprises a second thigh binding band (1031) which is worn and bound on a thigh of an affected limb, a shank binding band (1032) which is worn and bound on a shank of the affected limb, and a foot wearing shoe cover (1033) which is worn and bound on a foot of the affected limb; The active power line (201) comprises a first bowden wire (2011) for supporting a patient limb, a second bowden wire (2012) for pulling the foot wearing shoe cover (1033) to generate relative movement, and a third bowden wire (2013) for pulling the second thigh binding strap (1031) to generate relative movement, the passive power line (202) comprises a fourth bowden wire (2021) for pulling the foot wearing shoe cover (1033) to generate relative movement, a fifth bowden wire (2022) and a sixth bowden wire (2023) for pulling the lower leg binding strap (1032) to generate relative movement; The starting end of the first bowden wire (2011) is connected to the front side of the first binding belt (102), and is sequentially and fixedly connected to the rear side of the first binding belt (102) and the rear side of the waist binding belt (101), and the tail end of the first bowden wire is connected between the second thigh binding belt (1031) and the shank binding belt (1032); The starting end of the second bowden cable (2012) is connected to the front side of the first binding belt (102), and is sequentially and fixedly connected to the rear side of the first binding belt (102), the rear side of the waist binding belt (101) and the rear side of the shank binding belt (1032), and the tail end of the second bowden cable is connected to the rear end of the foot wearing shoe cover (1033); The starting end of the third bowden cable (2013) is connected to one side of the waist binding strap (101) close to the first binding strap (102) and sequentially and fixedly connected to the first binding strap (102), one side of the waist binding strap (101) close to the second binding strap (103), and the tail end of the third bowden cable is connected to the front side of the second thigh binding strap (1031); The starting end of the fourth bowden cable (2021) is connected to one side of the waist binding band (101) close to the second binding band (103), and sequentially passes through the rear side of the waist binding band (101) and the front side of the shank binding band (1032), and the tail end of the fourth bowden cable is connected to the front end of the foot wearing shoe cover (1033); The starting end of the fifth bowden wire (2022) is connected to one side of the waist binding band (101) close to the second binding band (103), and sequentially passes through the rear side of the waist binding band (101) and the rear side of the second thigh binding band (1031), and the tail end is connected to the outer side of the shank binding band (1032); The device further comprises a fixing unit (3) arranged on the flexible binding unit (1) and used for fixing the power assisting unit (2), a limiting unit (4) used for limiting the length of the power assisting unit (2), and an adjusting unit (5) arranged on the second binding belt (103) and used for keeping stability in the walking process of the human gait; the adjusting unit (5) comprises a knee joint buckling limiter (501), a magnetic clutch (502) and an elastic band (503); the knee joint buckling limiter (501) is arranged at the outer side of the knee joint between the second thigh binding belt (1031) and the shank binding belt (1032), one end of the magnetic clutch (502) is connected with the shank binding belt (1032), the other end of the magnetic clutch is connected with the fifth bowden wire (2022), and the elastic belt (503) is arranged at the middle part of the sixth bowden wire (2023); The sixth bowden wire (2023) has a start end connected to a side of the waist-binding band (101) near the second binding band (103) and an end connected to a knee flexion limiter (501).

Description

Non-external force driven flexible exoskeleton walker Technical Field The invention relates to the field of wearable medical rehabilitation training devices, in particular to a non-external-force-driven flexible exoskeleton walker. Background Walking ability is a fundamental requirement for human survival and is also an important training program in rehabilitation therapy for patients with leg defects. In the current rehabilitation field, the mechanical power-assisted exoskeleton developed for walking assistance, auxiliary rehabilitation training and the like of patients is widely popularized and applied. While most patients choose to use auxiliary devices such as walking aids and walking sticks to perform rehabilitation training and assist walking in home in the golden rehabilitation period due to medical resources and rehabilitation cost, as the devices do not provide assistance to the buckling of lower limb joints and knee joint support (knee joint locking) and cannot support and drive the affected limb to perform walking training in natural walking gait (toe mopping and circle marking gait), the patient cannot walk well although walking is achieved. Meanwhile, in the existing medical field, the external skeleton walker is mainly used for patients, an external power source (active) is adopted, but the active external skeleton walker is poor in man-machine interaction and easy to damage human bodies due to human-machine collision caused by own system errors, meanwhile, the active external skeleton walker is heavy, the burden of the patients is intangibly increased on the human bodies, the rehabilitation of the patients is affected, the external skeleton walker is inconvenient to manufacture, the purchase or lease cost is high, the universality is not achieved, and the passive external skeleton walker is mainly used for providing swing power (single joint) for patients with muscle strength decline and is not practical for rehabilitation training of patients with cerebral apoplexy hemiplegia or unilateral lower limb dyskinesia. Therefore, it is necessary to provide an exoskeleton walker which is helpful for rehabilitation training and life independence of patients with cerebral apoplexy and hemiplegia and unilateral lower limb dyskinesia. Disclosure of Invention The present invention is directed to overcoming one or more of the problems set forth above and providing a non-externally driven flexible exoskeleton walker. In order to achieve the above purpose, the present invention provides the following technical solutions: a non-externally driven flexible exoskeleton walker comprising: a flexible binding unit connected with the power assisting unit of the flexible binding unit; The flexible binding unit comprises a waist binding belt fixed at the waist and abdomen of a human body, a first binding belt fixed on a healthy limb and a second binding belt fixed on a wounded limb; the power assisting unit comprises a driving power assisting line and a driven power assisting line; the driving assistance line is respectively connected with the waist binding belt, the first binding belt and the second binding belt, and the driven assistance line is respectively connected with the waist binding belt and the second binding belt; the healthy limb provides driving power for the affected limb through the driving assisting line to enable the affected limb to move relatively, and the affected limb moves relatively along with the movement of the affected limb through the driven assisting line. Preferably, the first binding band includes a first thigh binding band worn and bound to a healthy leg, and the second binding band includes a second thigh binding band worn and bound to a thigh of an affected limb, a shank binding band worn and bound to a shank of the affected limb, and a foot wearing shoe cover worn and bound to a foot of the affected limb. Preferably, the active power line comprises a first bowden wire for supporting a patient's limb, a second bowden wire for pulling the foot wearing shoe cover to perform a relative movement, and a third bowden wire for pulling the second thigh strap to perform a relative movement, and the passive power line comprises a fourth bowden wire for pulling the foot wearing shoe cover to perform a relative movement, and a fifth bowden wire and a sixth bowden wire for pulling the calf strap to perform a relative movement. Preferably, the initial end of the first bowden cable is connected to the front side of the first binding strap and is sequentially and fixedly connected to the rear side of the first binding strap, the rear side of the waist binding strap, and the end is connected between the second thigh binding strap and the shank binding strap. Preferably, the starting end of the second bowden cable is connected to the front side of the first binding strap and is sequentially and fixedly connected to the rear side of the first binding strap, the rear side of the waist binding strap and