CN207710778U - A kind of wearable upper limb Bionic flexible exoskeleton robot - Google Patents

Abstract

The utility model is related to a kind of wearable upper limb Bionic flexible exoskeleton robots, and node pair is arranged at the corresponding skin of human body two endpoints of each skeletal muscle, is connected by line of pull between node pair；Control system includes controller, motor driver, motor and power supply, and controller connects motor by motor driver, sends control command to motor, is worked by motor driver driving motor, power supply system power supply in order to control；Line of pull is wrapped on the reel of motor output end, to node to carrying out pulling force output.The utility model uses flexible exoskeleton technology, principle based on bionics and sport biomechanics, by the bone of human motion, muscle model, based on human body itself skeletal structure, tendon is simulated using line of pull simulation skeletal muscle, flexible bandage, to make apparatus structure that there is the similar motion configuration of human body, type of drive meets human body driving principle, so that wearer's movement is met human normal pattern, while portable construction, daily can dress.

Description

A kind of wearable upper limb Bionic flexible exoskeleton robot

Technical field

The utility model is related to wearable robot field, specifically a kind of wearable upper limb Bionic flexible ectoskeleton Robot.

Background technology

Often there are the situations such as muscular fatigue in heavy duty or long-term holding posture in modern military field, soldier；Normally People, also often because life or work in caused by repetitive operation muscular fatigue；And for the insufficient disabled person of muscle strength Or for the elderly, the daily elemental motion such as carry arm, crawl cannot achieve.

Existing ectoskeleton power-assisting robot, structure mostly use as rigid element, interference joint motions, to make wearer Deviate nature motor pattern, meanwhile, the large inertia of rigid member and bulky Regulation mechanism increase wearer's metabolism and dress System cost, damage wearer movement flexibility.

Utility model content

In view of the deficiencies of the prior art, the utility model provides a kind of wearable upper limb Bionic flexible exoskeleton robot, The bone of human motion, muscle model are based on by human body itself bone knot using the principle of bionics and sport biomechanics Structure simulates tendon using line of pull simulation skeletal muscle, flexible bandage, conventional rigid component exoskeleton robot is avoided to transport joint Dynamic interference solves and disturbs joint motions, large inertia and heaviness etc. existing for existing conventional rigid component exoskeleton robot and ask Topic makes wearer's movement meet human normal pattern.

The utility model technical solution used for the above purpose is：A kind of wearable upper limb Bionic flexible dermoskeleton Bone robot, including the control system, line of pull and the node that are linked in sequence；

Node is set at the corresponding skin of human skeletal muscle's endpoint；

Line of pull realizes the connection between control system and node for simulating human skeletal muscle；

Control system realizes that simulation Skeletal Muscle Contraction generates movement for driving line of pull.

The control system includes controller, motor driver, motor；The controller connects electricity by motor driver Machine；Controller is worked for sending control command to motor driver by motor driver driving motor.

Two nodes constitute node pair；Node A, node B position correspond to two endpoints of human body skeletal muscle respectively；Knot Point centering, the node close apart from limbs junction are node A, and the node remote apart from limbs junction is node B；Node A, node Connection block, the structural member being fixed on human body are respectively equipped at B；The drawing of the reel winding of motor output end in control system The line of force is connect through connecting block with structural member.

Part of the line of pull between the reel and connection block of motor output end is cased with lasso trick；The lasso trick is Hollow tube makes line of pull pass through its hollow space.

The connection block is shoulder hole structure, and apart from limbs junction, one end trepanning B diameters are less than apart from limbs farther out The nearlyr one end trepanning A diameters in junction, make lasso trick insert in the hole from trepanning A, and can not be pierced by from trepanning B, while making line of pull Through trepanning A and trepanning B.

The structural member is non-elastic structure part.

The connection block, structural member are set to human body by velcro.

Elastic structure is equipped between the velcro and human skin, for being protected to human body.

The set-up of control system is worn on human body by bandage in knapsack.

The utility model has the advantages that and advantage：

1. the utility model uses flexible exoskeleton technology, the principle based on bionics and sport biomechanics, by human body Bone, the muscle model of movement are based on human body itself skeletal structure, are simulated using line of pull simulation skeletal muscle, flexible bandage Tendon, to make apparatus structure that there is the similar motion configuration of human body, type of drive to meet human body driving principle, wearer is made to transport It is dynamic to meet human normal pattern, while device has portable construction, it the advantageous effects such as daily can dress.

2. node, in human body displacement system, skeletal muscle end-point distances is arranged in skeletal muscle endpoint in the utility model Shorten because of contraction of muscle, to drive joint motions, copy this principle that node is set, connected by line of pull between node, Line of pull simulates muscle, by driving line of pull to change the distance between node, to drive joint motions, simulates human body itself Movement can realize the purpose of exoskeleton robot apery movement, have and meet human body displacement driving principle, realize man-machine Behavior cooperates with, and is ectoskeleton and human body itself joint compliance.

Description of the drawings

Fig. 1 is the control system architecture figure of the utility model；

Fig. 2 is the connection block of the utility model and flexible lasso trick installation diagram；

Fig. 3 a are the forward sight dimensional structure diagrams one of the utility model embodiment；

Fig. 3 b are the forward sight dimensional structure diagrams two of the utility model embodiment；

Fig. 4 is the rear view three-dimensional structure of the utility model embodiment；

Fig. 5 a are the bionics principle schematic diagrames one of the utility model implementation basis；

Fig. 5 b are the bionics principle schematic diagrames two of the utility model implementation basis；

Fig. 5 c are the bionics principle schematic diagrames three of the utility model implementation basis；

Fig. 6 is the utility model front portion theory structure schematic diagram；

Fig. 7 is the utility model lateral parts theory structure schematic diagram；

Fig. 8 is the utility model aft section theory structure schematic diagram；

Fig. 9 is the utility model arm segment theory structure schematic diagram；

Figure 10 a are the utility model power-assisted experiment effect figures one；

Figure 10 b are the utility model power-assisted experiment effect figures two；

Wherein, 1 is flexible lasso trick (in attached drawing dotted line thus structure), and 2 be connection block, and 3 be wearable Bionic flexible Structural member, 4 be flexible bandage, and 5 be drive system, and 6 be coracoradialis, and 7 be caput longum musculi bicipitis brachii, and 8 be the bicipital muscle of arm, 9 It is processus coracoideus for tendon, 10,11 be bicipital muscle of arm modelling signal line of pull, and 12 be tuberositas radii, and 13 simplify pulling force for pectoralis major Line, 14 simplify line of pull for the bicipital muscle of arm, and 15 simplify line of pull for brachialis, and 16 be bicipital muscle of arm simplified model endpoint (in attached drawing Dot is muscle model endpoint), 17 simplify line of pull for supraspinatus, and 18 simplify line of pull to refer to deep tendon, and 19 be deltoid muscle Middle part simplifies line of pull, and 20 simplify line of pull for deltoid muscle rear portion, and 21 simplify line of pull for anconeus lateralis, and 22 be the upper arm three The long head of head flesh simplifies line of pull, and 23 be pronator teres simplification line of pull, and 24 simplify line of pull for supinator, and 25 is simple to refer to long tendon Change line of pull.

Specific implementation mode

The utility model is described in further detail with reference to the accompanying drawings and embodiments.

A kind of wearable upper limb Bionic flexible exoskeleton robot, in the corresponding skin of human body two endpoints of each skeletal muscle Node pair is arranged in place, is connected by line of pull between node pair；

Control system includes：Controller, motor driver, motor and power supply, controller connect electricity by motor driver Machine sends control command to motor, is worked by motor driver driving motor, power supply system power supply in order to control；

Line of pull is wrapped on the reel of motor output end, to node to carrying out pulling force output.

The node to including far-end node and proximal end node, wherein far-end node be in two nodes along shoulder direction away from From the node of controller farther out, proximal end node is in two nodes along the closer node of shoulder direction distance controller.It is described remote Leaf is fixed on corresponding site position by non-elastic structure part.The non-elastic structure part is magic tape structure.It is described close Leaf is fixed on connection block.

The connection block be shoulder hole structure, i.e., distance controller farther out one end opening diameter be less than distance controller compared with Nearly one end opening diameter, allows flexible lasso trick to insert in the hole from the nearlyr one end trepanning of distance controller, and can not be controlled from distance One end trepanning is pierced by device processed farther out, while line of pull can be passed freely through from perforation trepanning.

The flexibility lasso trick is hollow tube, is set between connection block and the reel of motor output end, makes line of pull Pass through its hollow space.

The motor driver and motor have several groups, and corresponding with the number of flexible lasso trick and line of pull.

The set-up of control system is worn on human body in knapsack by flexible bandage.

Further include elastic structure, be worn on human body, human body is protected；The elastic structure is elastic protector, It is fixed by elastic velcro.

A kind of wearable upper limb Bionic flexible exoskeleton robot includes：Elastic structure, flexible bandage, control system, Flexible lasso trick and simulate skeletal muscle line of pull, wherein elastic structure is made of elastic woven material, have wearing comfort and Elastic structure and control system knapsack are connected on trunk by size adaptability, flexible bandage, and flexible lasso trick is by power It is transmitted on elastic structure by control system, drives arm motion.

Bone models it as kinematic driving unit, the utility model as movement main member, skeletal muscle respectively For connecting rod and pulling force cable architecture, human skeletal muscle is simulated using line of pull, bundling belt simulates tendon, the simulation of motor pulling force line Skeletal Muscle Contraction generates movement.

Imitative bone line of muscular pulling force, in particular to：Line of pull is carried out to skeletal muscle, according to anatomy principle, corresponding bone Flesh location arrangements line of pull makes single unit system have and human body similar movement chain configuration.

Elastic structure refers to the structural member for being designed according to human body shape, and having certain elastic deformability, The present embodiment is worn on human body using knitting material, and playing the role of connection each section, (the present embodiment is that knitting sleeve is worn on Upper limb, and knapsack is connect with knitting sleeve with bandage).Elastic structure uses elastic magic tape structure, corrects wearer's position.

It is the control system architecture figure of the utility model as shown in Figure 1.

The power source of control system is motor, and controller uses microcontroller, power supply system and motor power supply in order to control, human body Motion intention signal acquiring system acquires human motion and is intended to, and is handled motion intention by processor, and be converted to electricity Machine control signal, and then control command will be sent to motor driver, motor driver driving motor works, and motor passes through coiling Wheel winding line of pull generates pulling force, and the pulling force on final line of pull is transmitted on the structural members such as imitative tendon bundled piece, drives joint Rotation, multi-joint line of pull coordinated realize exoskeleton robot class people movement.

Human motion signal of intent acquisition system can acquire human motion signal of intent, which is the prior art.This Embodiment can be by by the electromyographic signal collection instrument of the system, being set to the midpoint of certain two endpoint line of skeletal muscle, in real time Acquire human motion signal of intent.

Simultaneity factor control uses closed-loop control, passes through angular transducer and velocity sensor in robotic actuator end Human body actual motion state (such as joint flexion angle) is captured, and movement state information and human body signal acquisition system are captured Motion intention (voltage signal such as proportional to joint flexion angle) is compared, and carries out carrying out motion control signal in real time It corrects, to achieve the effect that robot motion best suits human body actual motion.

Flexible lasso trick both ends are connect by connecting block with motor and proximal end skeletal muscle endpoint respectively, keep motor and human body Between pulling force line length it is constant always, change simultaneously line of pull direction, make motor and position of human body that there is arbitrariness.Flexible boot Rope is hollow wire tube structure, and line of pull passes through its hollow space.

It is illustrated in figure 2 the connection block of the utility model and flexible lasso trick installation diagram.

Flexible lasso trick both ends are connect by connecting block 2 with motor and proximal end skeletal muscle endpoint respectively, using stepped hole knot Structure, flexible lasso trick 1 can go deep into hole, fix lasso trick using ladder, line of pull can be completely by connecting block, to realize fixation The effect of lasso trick, flexible lasso trick both ends are all made of this structure.

It is illustrated in figure 2 the embodiments of the present invention schematic diagram.

Such as Fig. 3 a, Fig. 3 b and Fig. 4, a kind of wearable Bionic flexible exoskeleton robot embodiment includes：It is wearable bionical Flexible structural member, flexible bandage, drive system knapsack, flexible lasso trick and the line of pull for moving muscle model, wherein wearable imitative Raw flexible structural member is made of elastic woven material, has wearing comfort and size adaptability, flexible bandage will be wearable bionical Flexible structural member is connected to drive system on trunk, and power is transmitted to wearable by flexible lasso trick by drive system knapsack On Bionic flexible structural member, arm motion is driven.

In the present embodiment, flexible bandage is the bandage for being knitted material, and flexible lasso trick is using the hollow tube that can be bent；Simulation The bundling belt of tendon, using the protective gear material of knitting material, protective gear material is equipped with non-elastic structure part, i.e., stiff to be used for Connect the connection sheet of line of pull.It can make line of pull and binding band connection in this way, and then realize the connection with human body.

Such as Fig. 5 a~5c, a kind of wearable Bionic flexible exoskeleton robot Bionic Design schematic diagram (refers to Gu Deming, Miao Into the 3rd edition [M] People's Sports Press of prosperous exercise anatomies collection of illustrative plates, P170,2013.), wherein bone is as the master moved Want component, driving unit of the muscle as movement, the utility model that it is modeled as to connecting rod and pulling force cable architecture respectively, is utilized Line of pull simulates human muscle, and bundling belt simulates tendon, the contraction of motor pulling force line simulated muscle tissue phantom.

Such as Fig. 6 to Fig. 9, bold portion is the simplification pulling force line model of muscle in figure, if pectoralis major simplifies line of pull 14, figure Dotted portion represents flexible lasso structure in 4~9, can arbitrarily be bent, and length does not change, provide lasting driving force.Fig. 6 is extremely The distribution of muscle is according to the human skeleton muscle internal anatomy being similar in Fig. 5 a~5c in Fig. 9, as the shoulder joint of upper arm raises up, preceding Receipts, afterwards exhibition, elbow joint bending, stretching, extension, the preceding rotation of forearm, rear rotation, the corresponding muscle of action such as wrist joint back song, preceding receipts, in Fig. 6 To there is embodiment in Fig. 9, all dots represent the two-end-point of these corresponding muscle in Fig. 6 to Fig. 9.During the motion, pass through Motor rotation winding line of pull, is transferred power to using flexible lasso trick on corresponding line of muscle force in drive system, according to Human anatomy and sport biomechanics principle, the corresponding line of pull of a plurality of muscle of Collaborative Control, the association in each joint of driving arm With movement, to realize the synkinesia of upper limb.

Therefore, the utility model can be respectively provided with node pair, each node at the both ends of upper limb, multiple skeletal muscle of lower limb To being driven by a motor by a line of pull, as needed, the line of pull of a plurality of muscle can be controlled simultaneously, it is real The synkinesia of existing upper limb, lower limb.

Skeletal muscle is one of the following or multiple in this implementation：The bicipital muscle of arm, pectoralis major, brachialis, supraspinatus, deep flesh Tendon, deltoid muscle, the triceps muscle of arm, pronator teres, supinator, long tendon etc..

As shown in Figure 10 a~Figure 10 b, human skeletal muscle's generation convergent force is bigger, and electromyography signal amplitude is bigger on muscle, base Exoskeleton robot power-assisted effect is verified in this principle.The bicipital muscle of arm is main elbow musculus flexor, holds phase homogenous quantities Weight measures wearing exoskeleton robot when elbow joint bending is lifted weight and does not wear two kinds of feelings of exoskeleton robot respectively Electromyography signal amplitude situation on the bicipital muscle of arm under condition, it can be seen that power-assisted state muscle electromyography signal width from Figure 10 a~Figure 10 b Value is significantly less than under non-power-assisted state, illustrates under the same load, and power-assisted state muscle power output is obviously reduced, and then proves outer The power-assisted effect of bone robot.

Claims (6)

1. a kind of wearable upper limb Bionic flexible exoskeleton robot, it is characterised in that：Including be linked in sequence control system, draw The line of force and node；Node is set at the corresponding skin of human skeletal muscle's endpoint；Line of pull realizes the company between control system and node It connects；Control system drives line of pull；

Two nodes constitute node pair；Node A, node B position correspond to two endpoints of human body skeletal muscle respectively；Node pair In, the node close apart from limbs junction is node A, and the node remote apart from limbs junction is node B；At node A, node B It is respectively equipped with connection block, the structural member being fixed on human body；The pulling force of the reel winding of motor output end in control system Line is connect through connecting block with structural member；The connection block, structural member are set to human body by velcro；The velcro and people Elastic structure is equipped between body skin.

2. a kind of wearable upper limb Bionic flexible exoskeleton robot according to claim 1, it is characterised in that the control System processed includes controller, motor driver, motor；The controller connects motor by motor driver.

3. wearable upper limb Bionic flexible exoskeleton robot according to claim 1, it is characterised in that the line of pull Part between the reel and connection block of motor output end is cased with lasso trick；The lasso trick is hollow tube, keeps line of pull logical Cross its hollow space.

4. wearable upper limb Bionic flexible exoskeleton robot according to claim 1, it is characterised in that the connection gear Block is shoulder hole structure, and apart from limbs junction, one end trepanning B diameters are less than apart from the nearlyr one end trepanning A in limbs junction farther out Diameter makes lasso trick insert in the hole from trepanning A, and can not be pierced by from trepanning B, while line of pull being made to run through trepanning A and trepanning B.

5. wearable upper limb Bionic flexible exoskeleton robot according to claim 1, it is characterised in that the structural member For non-elastic structure part.

6. a kind of wearable upper limb Bionic flexible exoskeleton robot according to claim 1, it is characterised in that the control System processed is set in knapsack, and is worn on human body by bandage.