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CN-121987461-A - Exoskeleton with adjustable backboard

CN121987461ACN 121987461 ACN121987461 ACN 121987461ACN-121987461-A

Abstract

The invention relates to the field of medical equipment, and provides an exoskeleton with an adjustable backboard, which comprises a stand column structure and a control module, wherein the stand column structure is connected with a backboard mechanism in a sliding manner, a lower limb exoskeleton connected with the backboard mechanism is arranged on the backboard mechanism, the backboard mechanism is provided with a backboard capable of moving up and down relative to the backboard mechanism, and the exoskeleton comprises a binding device and a plantar exoskeleton which are arranged on the lower limb exoskeleton, and the plantar exoskeleton is provided with a pressure sensor. When the user walks in a standing state, the human body posture changes, at the moment, the plantar exoskeleton detects the change of plantar pressure, so that the control module can control the backboard to move up and down relative to the backboard mechanism according to plantar pressure to adjust the human body posture.

Inventors

  • CHEN WEI
  • Xie Haiqiong
  • ZHOU ZHIJIE
  • ZUO TAOQIANG

Assignees

  • 重庆生物智能制造研究院

Dates

Publication Date
20260508
Application Date
20260107

Claims (10)

  1. 1. The exoskeleton with the adjustable backboard is characterized by comprising a column structure (16) and a control module, wherein the column structure (16) is connected with a backboard mechanism (17) in a sliding manner, and a lower limb exoskeleton connected with the backboard mechanism (17), and the backboard mechanism (17) is provided with a backboard (20) which can move up and down relative to the backboard mechanism (17); The binding device comprises a clamping mechanism and a multi-section type air bag mechanism, wherein the clamping mechanism comprises a first rotating node (A), two multi-connecting-rod mechanisms symmetrically arranged on two sides of the first rotating node (A), each multi-connecting-rod mechanism comprises a first connecting rod (1) with one end rotatably connected with the first rotating node (A), one end of the other end of the first connecting rod (1) and one end of a second connecting rod (2) are rotatably connected with a second rotating node (B), the other end of the second connecting rod (2) and one end of a third connecting rod (3) are rotatably connected with a third rotating node (C), the other end of the third connecting rod (3) is fixedly connected with a lower limb exoskeleton, one end of each fourth connecting rod (4) is rotatably connected with the second connecting rod (2) or the third connecting rod (3) through a linkage assembly, the clamping mechanism further comprises a driving device, one end of each driving device is connected with the first connecting rod (1), the other end of each driving device is rotatably connected with one end of the third connecting rods (3) and the other end of the driving device is rotatably connected with one end of the third connecting rods (3) and the third connecting rod (3) is fixedly connected with the third connecting rod (9) which is arranged on the third connecting rod (9), and an inflation structure for inflating the first airbag (9A), the second airbag (9B) and the third airbag (9C); When the driving device drives the linkage rod (5) to pull the first connecting rod (1) along a first direction, so that the first rotating node (A) moves along a direction approaching the driving device, the two second rotating nodes (B) move from an initial position (h) to a second position (B) along a direction approaching each other, so that the two third rotating nodes (C) are driven to move from a third position (d) to a fourth position (e) along a direction separating from each other, the free ends of the two fourth connecting rods (4) are driven to move away from each other, thereby facilitating the entering of lower limbs, and when the driving device drives the linkage rod (5) to push the first connecting rod (1) along a second direction, so that the first rotating node (A) moves along a direction separating from the driving device, the two second rotating nodes (B) move from the second position (B) to the first position (a) along a direction separating from each other, and the two third rotating nodes (C) move from the fourth position (e) along a direction separating from each other, so that the free ends of the four connecting rods (4) move away from each other, so that the four connecting rods (4) are symmetrically arranged along a direction separating from each other, and the four connecting rods (9) are contracted, so that the inflatable bags are arranged in a plurality of directions, and the inflatable bag is formed by the directions and the four connecting rods (9) and the inflatable by the inflatable mechanism and the inflatable mechanism is arranged in the four and the four air and the inflatable mechanism, the second air bag (9B) and the third air bag (9C) are clamped and tightly attached to the lower limb; When a user walks, the pressure sensor of the plantar exoskeleton (19) sends a pressure signal to the control module, the control module compares pressure data acquired by the pressure sensor with a preset pressure threshold value, and if the pressure data is larger than or equal to the preset pressure threshold value, the control module controls the backboard (20) to move upwards relative to the backboard mechanism (17).
  2. 2. The back plate adjustable exoskeleton of claim 1, wherein the tying device further comprises an airbag moving mechanism respectively arranged on the first connecting rod (1), the third connecting rod (3) and the fourth connecting rod (4) in the clamping mechanism, the airbag moving mechanism comprises a fixed column (14) fixedly arranged on the first connecting rod (1) or the third connecting rod (3) or the fourth connecting rod (4), two ends of the fixed column (14) are provided with elastic pieces, and sliding blocks (15) capable of axially reciprocating along the fixed column (14), the sliding blocks (15) are connected with corresponding airbags, and pushing pieces (13) are arranged at two sides of the sliding blocks (15) corresponding to the positions of the fixed column (14); The air bag moving mechanism is provided with a driving module, the driving module drives the sliding block (15) to drive the air bag to move up and down, and the driving module is electrically connected with the control module; The control module compares the pressure data acquired by the pressure sensor with a preset pressure threshold value, and if the pressure data is larger than or equal to the preset first pressure threshold value and smaller than a second pressure threshold value, the control module controls the driving module to drive the air bag to move by a corresponding distance; And if the pressure value is larger than or equal to a preset second pressure threshold value, the control module controls the driving module to drive the air bag to move up and down.
  3. 3. The backboard adjustable exoskeleton of claim 1, wherein said backboard mechanism (17) comprises a first slider (171), said backboard (20) being slidable along said first slider (171); the back plate mechanism (17) further comprises a second sliding piece (172) connected with the first sliding piece (171), wherein the second sliding piece (172) can move up and down along a first sliding rail (161) of the upright post structure (16); The backboard mechanism (17) further comprises second support rods (173) which are respectively arranged at two ends of the second sliding piece (172) and are parallel to each other, and the second support rods (173) can reciprocate along the axial direction of the second sliding piece (172).
  4. 4. The adjustable back plate exoskeleton of claim 1 wherein said first slider (171) comprises a motor, a screw coupled to an output of said motor, a first support rod extending from one side of said back plate (20) is threadably coupled to said screw, and said back plate (20) is movable up and down along said screw.
  5. 5. The adjustable back plate exoskeleton of claim 1 wherein, The linkage assembly comprises a connecting plate (6) with one end rotatably connected to a third rotating node (C), a fourth rotating node (D) and a fifth rotating node (E) are arranged on the connecting plate (6), the fourth rotating node (D) is rotatably connected with a fourth connecting rod (4), the fifth rotating node (E) is rotatably connected with a fifth connecting rod (7), one end, far away from the fifth rotating node (E), of the fifth connecting rod (7) is fixedly connected to the lower limb exoskeleton, and a triangle is formed by connecting lines between the third rotating node (C) and the fourth rotating node (D) and between the third rotating node (E).
  6. 6. The backboard-adjustable exoskeleton of claim 1, wherein said tying device further comprises a plurality of electrode pads (11) provided on said first balloon (9A), said second balloon (9B) and said third balloon (9C).
  7. 7. The backboard-adjustable exoskeleton of claim 1, wherein the inflatable structure comprises an inflatable tube (8) connected to the first, second and third air bags (9A, 9B, 9C), and an air pump connected to the inflatable tube (8).
  8. 8. The adjustable back plate exoskeleton of claim 5 wherein said binding means further comprises: the fixing brackets (10) are fixed on the lower limb exoskeleton and are symmetrically arranged; The first end of the fixed support (10) and one end, far away from the third rotating node (C), of the third connecting rod (3) are fixedly connected to a first fixed node (F); the second end of the fixed bracket (10) and one end of the fifth connecting rod (7) are fixedly connected to a third fixed node (H), and the other end of the fifth connecting rod (7) and the connecting plate (6) are rotatably connected to a fifth rotating node (E); One end of the fourth connecting rod (4) is fixedly connected with the first end of the fixed bracket (10) through a limiting piece (12) to a second fixed node (G); And an included angle BCG formed by the second rotating node (B), the third rotating node (C) and the second fixed node (G) is 90-145 degrees.
  9. 9. The adjustable back plate exoskeleton of claim 1 wherein, The multi-section type air bag mechanism further comprises an air pressure sensor arranged on the inflatable structure, and the control module is electrically connected with the air pressure sensor and the inflatable structure; the air pressure sensor detects pressure signals of the first air bag (9A), the second air bag (9B), the third air bag (9C) and the lower limb, the pressure signals are transmitted to the control module, and the control module controls the inflation and deflation of the inflatable structure on the air bags at different parts of the lower limb according to the preset pressure threshold value.
  10. 10. The backboard-adjustable exoskeleton of claim 5, wherein a limiting piece (12) is arranged at one end of the fourth connecting rod (4) close to the connecting plate (6).

Description

Exoskeleton with adjustable backboard Technical Field The invention relates to the field of medical appliances, in particular to an exoskeleton with an adjustable backboard. Background The lower limb exoskeleton is applied to the lower limb dyskinesia group, so that the patient can recover or improve walking and movement ability through the machine. However, depending on the disease, the structure of the lower extremity exoskeleton will also vary somewhat depending on the function required. The lower extremity exoskeleton is generally divided into three different types for the different functions required, including a strong assistance type, a motion compensation type, and a gait correction type. The gait correction type is to identify abnormal gait through advanced sensing technology and provide accurate correction force by combining personalized gait planning and correction algorithm, thereby improving gait posture of patients and avoiding secondary injury. Because of the special characteristics of the users aimed at gait correction, the behaviors usually show short stride, slow pace and other gait, and various types of lower limb exoskeleton auxiliary action products are proposed in the market for the requirements. The invention patent with the publication number of CN106109186B discloses a wearable lower limb exoskeleton robot, which comprises a waist-shoulder binding system and leg movement systems, wherein the waist-shoulder binding system is worn and fixed on the upper body of a human body, the leg movement systems are respectively arranged at the left leg position and the right leg position of the human body, two sets of leg movement systems are respectively fixed at the two sides of the waist-shoulder binding system, each set of leg movement systems comprises a wire winding driving system, a hip joint supporting part, a thigh and a shank supporting part, the hip joint supporting part is connected with the thigh supporting part through a hip joint, the thigh supporting part is connected with the shank supporting part through a knee joint, the wire winding driving system comprises a driving assembly, a driving winch, a hip joint winch, a knee joint winch, a hip joint driving wire and a knee joint driving wire, and the driving assembly is arranged on the hip joint supporting part and positioned at the waist of the human body. The invention disclosed in the patent publication number CN109730902B, for example, relates to the technical field of wearable rehabilitation, in particular to an adjustable hip joint binding for a lower limb exoskeleton robot, which comprises an adjustable hip joint skeleton, an adjustable hip joint front fixing mechanism and an adjustable hip joint rear fixing mechanism, wherein the adjustable hip joint skeleton comprises a first skeleton and a second skeleton, the adjustable hip joint front fixing mechanism comprises a first height adjusting component, a second height adjusting component, a first width adjusting component and a second width adjusting component, and the adjustable hip joint rear fixing mechanism comprises a third width adjusting component and a fourth width adjusting component. In the above patent documents, the backboard structure for binding (the structure is applied to the shoulder-binding portion) is fixedly connected with the lower limb exoskeleton. There may be a problem in that the difference in the body shapes of the users is large, and thus the users cannot adapt to wearing. The invention further discloses a power type multi-degree-of-freedom walking-assisting lower limb skeleton robot based on intention recognition, which comprises a lower limb exoskeleton and a power type movable frame, wherein the lower limb exoskeleton is connected with the power type movable frame, and a pressure sensor is arranged on a bandage bracket and used for detecting interaction force between a human body and the exoskeleton. Gyroscopes are respectively arranged in the middles of the big leg and the lower leg and are used for detecting the gesture and the movement information of the lower limbs. And the pressure sensor is arranged on the backboard and used for identifying the turning intention of a person and realizing automatic power assisting. The rear part of the exoskeleton backboard mechanism is provided with a corresponding quick mounting block which can be connected with a quick connecting mechanism on the power type movable frame. The height of the backboard structure in the above patent document can be manually adjusted to adapt to patients with different heights, but the posture of a user can be changed in the process, at this time, the backboard tied on the back also needs to be synchronously adjusted to adapt to the change of the posture of the user, and the mobility of the user using the exoskeleton is limited, so that a simpler and more convenient adjustment mode is needed. Disclosure of Invention The invention aims to provide an exoskeleton with an adjustabl