CN-122008157-A - Man-machine joint coupling knee joint exoskeleton device

CN122008157ACN 122008157 ACN122008157 ACN 122008157ACN-122008157-A

Abstract

The invention relates to a knee joint exoskeleton device coupled with a human-computer joint, which comprises a wearing unit, a driving unit, a joint self-adaptation unit and an energy storage unit. The self-adaptive knee joint structure has the advantages that the axis of the exoskeleton joint is automatically coupled with the rotation axis of the knee joint of a human body through the joint self-adaptive unit, axis dislocation is avoided, extra friction and internal force are reduced, man-machine interaction performance is improved, the driving unit is arranged at the waist near the root of the thigh through flexible transmission, swing inertia and load of the leg are reduced, movement flexibility is improved, the energy storage unit stores and releases energy in a gait cycle, power consumption of the driving unit is reduced, friction loss is reduced through cooperation with a pulley design, energy utilization efficiency is improved, the wearing unit adopts a three-point fixing structure to disperse boosting force to three execution parts, the main area of the leg is covered, boosting force is more three-dimensional and effective, the length-adjustable design is suitable for different body types, and two passive degrees of freedom of the joint self-adaptive unit can be suitable for instantaneous rotation center changes of users with different heights.

Inventors

YU XUDONG
HUANG XU
HU TIANTIAN
ZHANG ZHOUYING
GONG XINYUAN

Assignees

中国人民解放军海军军医大学

Dates

Publication Date: 20260512
Application Date: 20260415

Claims (10)

1. A man-machine joint coupled knee exoskeleton device, comprising: a wearing unit for fixing the knee exoskeleton device on the wearer and transmitting the assistance torque to the wearer; the driving unit is arranged on the wearing unit and is used for outputting torque; The joint self-adaptive unit is connected with the wearing unit and is in transmission connection with the driving unit and is used for driving the legs of a wearer to move and move along with the rotation axis of the knee joint under the action of the driving unit so as to realize man-machine joint coupling; and the energy storage unit is arranged on the joint self-adaptive unit and is used for storing energy when the legs are bent and releasing energy when the legs are stretched.
2. The knee exoskeleton device of claim 1 wherein the wearing unit comprises: a first binding element for binding to the waist of a wearer to secure the knee exoskeleton device; a second binding element connected to the energy storage unit for binding to the thigh of the wearer; and the third binding element is respectively connected with the joint self-adapting unit and the energy storage unit and is used for being bound on the calf part of a wearer.
3. The knee exoskeleton device of claim 2 wherein the wearable unit further comprises: A first connecting rod member, the top end of which is connected with the first binding member; The universal joint element is arranged at the bottom end of the first connecting rod element and is used for realizing multidirectional rotation connection; A first adjustment lever member, a tip end of which is connected with the universal joint member; A second connecting rod member disposed at a bottom end of the first adjusting rod member and connected with the driving unit; a third connecting rod element movably connected with an outer side of the third binding element; the first transmission element is arranged at the top end of the third connecting rod element, is connected with the joint self-adaptation unit and is used for receiving the moment of the joint self-adaptation unit and driving the third connecting rod element to move.
4. The knee exoskeleton device of claim 1 wherein the drive unit comprises: a driving part provided at a side of the wearing unit for outputting torque; The flexible transmission component is arranged on the side part of the driving component and is in transmission connection with the driving component, and is used for acting under the action of the driving component; The speed reducing component is arranged on the side part of the flexible transmission component, is in transmission connection with the flexible transmission component and the joint self-adaptive unit respectively, and is used for driving the joint self-adaptive unit to act under the action of the flexible transmission component.
5. The knee exoskeleton device of claim 4 wherein said drive member comprises: the driving element is arranged on the side part of the wearing unit and is used for outputting torque; The two ends of the second transmission element are respectively connected with the two ends of the flexible transmission part, and the lower end of the second transmission element is rotationally connected with the wearing unit and is used for reciprocating motion under the action of the flexible transmission part and transmitting the motion to the wearing unit; The third transmission element is arranged at the lower end of the second transmission element and is in transmission connection with the second transmission element, and is used for transmitting the motion of the second transmission element to the wearing unit; a first support element arranged between the driving element and the reduction part and respectively connected with the driving element, the reduction part and the joint self-adapting unit, and/or The flexible transmission member includes: A first capstan element provided at an output end of the driving part for outputting torque; The first flexible transmission element is wound on the first winch element and is in transmission connection with the wearing unit, and is used for transmitting the torque of the driving component to the wearing unit; A second flexible transmission element wound around the first capstan element and in driving connection with the reduction part for transmitting the torque of the drive part to the reduction part, and/or The deceleration component includes: And the speed reducing element is in transmission connection with the flexible transmission part and is used for receiving the torque output by the driving part and outputting the torque after speed reduction.
6. The knee exoskeleton device of claim 5 wherein said drive member further comprises: A first housing element fixedly provided on the outer side of the driving member and connected to the wearing unit and the joint adaptive unit, respectively; the first sliding element is arranged on the first supporting element and is in sliding connection with the wearing unit, and is used for limiting the movement track of the wearing unit; A first connecting element arranged at the lower end of the second transmission element and respectively connected with the second transmission element and the third transmission element, and/or The flexible transmission member further includes: A second winch element arranged at the input end of the speed reducing component and respectively connected with the second flexible transmission element and the speed reducing component in a transmission way and used for driving the speed reducing component to work under the action of the second flexible transmission element, and/or The speed reducing member further includes: And the fourth transmission element is arranged at the output end of the speed reduction element, is connected with the joint self-adaptive unit and is used for outputting torque to the joint self-adaptive unit.
7. The knee exoskeleton device of claim 1 wherein said joint adaptation unit comprises: the fifth transmission element is in transmission connection with the driving unit and is connected with the second part of the wearing unit and is used for receiving the driving force of the driving unit and driving the second part of the wearing unit to rotate; a sixth transmission element in transmission connection with the fifth transmission element for transmitting motion; and the multi-link element is respectively connected with the sixth transmission element and the third part of the wearing unit and is used for driving the lower leg to move and adapting to the movement of the knee joint rotation axis on the sagittal plane X, Y coordinate axis under the action of the sixth transmission element.
8. The knee exoskeleton device of claim 7 wherein said joint adaptation unit further comprises: the second connecting element is arranged at the side part of the fifth transmission element and is respectively connected with the fifth transmission element and the second part of the wearing unit; the second shell element is arranged between the fifth transmission element and the driving unit and is used for packaging and protecting the joint self-adaptive unit and transmitting the torque output by the driving unit to the fifth transmission element; And the third shell element is arranged opposite to the second shell element and is matched with the second shell element to form a containing space of the wearing unit.
9. The knee exoskeleton device of claim 1 wherein said energy storage unit comprises: the upper end of the energy storage element is arranged at the second part of the wearing unit, and the lower end of the energy storage element is arranged at the third part of the wearing unit and is used for being stretched for energy storage when the knee joint is bent and shrinking for energy release when the knee joint is stretched; The second supporting element is arranged between the second part of the wearing unit and the third part of the wearing unit, is connected with the energy storage element in a sliding manner and is used for supporting and guiding the energy storage element to slide.
10. The knee exoskeleton device of claim 9 wherein said energy storage unit further comprises: the second sliding element is arranged at the tail end of the second supporting element, and two ends of the energy storage element penetrate through the second sliding element and are fixed on the wearing unit, so that the movement track of the energy storage element is fixed and guided; a third connecting element arranged relative to the second sliding element and arranged at the end of the second supporting element for fixing the second supporting element to the joint adaptation unit; The pulley elements are distributed in the second sliding element, and the energy storage element penetrates through the pulley elements and then stretches out of the second sliding element.

Description

Man-machine joint coupling knee joint exoskeleton device Technical Field The invention relates to the field of robots, in particular to a knee joint exoskeleton device coupled with a human-computer joint. Background For people with poor daily exercise ability or needing to improve the durability, such as the elderly, exercise lovers and the like. They are facing greater demands in daily activities such as going up and down stairs, outdoor exercises, etc. In addition, knee joint fatigue and injury are also prone to occur for persons who are engaged in physical labor for a long period of time or who need to sit frequently. When a person's knee joint changes from a static walking posture to a dynamic posture, relative slippage between the femur and tibia is most pronounced when the static walking posture changes to a dynamic posture, significantly reducing exoskeleton assistance efficiency. If the mechanism of the robot does not follow exactly the axis of rotation of the knee joint, additional forces may be created in the robot fastener. These potential tangential forces cause the robot to move and slide in the location of the fasteners, reducing machine life. Thus, one of the important features of the knee joint mechanism is to follow the rotation axis of the knee joint. In the existing exoskeleton designs on the market, product designers simplify the human knee joint into a 1-degree-of-freedom rotary joint, and obviously, the simplified designs can cause dislocation of the rotation axis of the human joint, so that the exoskeleton can generate unnecessary moment on the human body, and the human body is painful and even injured. Therefore, development of a knee joint exoskeleton with simple structure, portability, comfort, good assistance effect and good man-machine coupling is needed. At present, effective solutions have not been proposed to solve the problems that in the related art, the axis misalignment of the knee joint exoskeleton human-computer joint causes reduced comfort level and energy loss, unreasonable mass distribution causes large swing inertia of legs, single power transmission causes concentrated internal force of a structure, instantaneous rotation center track difference of knee joints of users with different heights cannot be adapted, friction loss of an energy storage unit is large, and the like. Disclosure of Invention Aiming at the defects in the prior art, the invention provides a knee joint exoskeleton device for human-computer joint coupling, which aims to solve the problems of reduced comfort level, energy loss, large swing inertia of legs, concentrated force caused by single power transmission, incapability of adapting to instantaneous rotation center track difference of knee joints of users with different heights, large friction loss of an energy storage unit and the like caused by the dislocation of the axis of the knee joint exoskeleton human-computer joint in the related art. In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: The invention provides a knee joint exoskeleton device coupled with a human-computer joint, which comprises: a wearing unit for fixing the knee exoskeleton device on the wearer and transmitting the assistance torque to the wearer; the driving unit is arranged on the wearing unit and is used for outputting torque; The joint self-adaptive unit is connected with the wearing unit and is in transmission connection with the driving unit and is used for driving the legs of a wearer to move and move along with the rotation axis of the knee joint under the action of the driving unit so as to realize man-machine joint coupling; and the energy storage unit is arranged on the joint self-adaptive unit and is used for storing energy when the legs are bent and releasing energy when the legs are stretched. Further, the wearing unit includes: a first binding element for binding to the waist of a wearer to secure the knee exoskeleton device; a second binding element connected to the energy storage unit for binding to the thigh of the wearer; and the third binding element is respectively connected with the joint self-adapting unit and the energy storage unit and is used for being bound on the calf part of a wearer. Further, the wearing unit further includes: A first connecting rod member, the top end of which is connected with the first binding member; The universal joint element is arranged at the bottom end of the first connecting rod element and is used for realizing multidirectional rotation connection; A first adjustment lever member, a tip end of which is connected with the universal joint member; A second connecting rod member disposed at a bottom end of the first adjusting rod member and connected with the driving unit; a third connecting rod element movably connected with an outer side of the third binding element; the first transmission element is arranged at the top end of the third connecting rod element, is connect