CN106826778A - A kind of walking apparatus - Google Patents
A kind of walking apparatus Download PDFInfo
- Publication number
- CN106826778A CN106826778A CN201710251163.0A CN201710251163A CN106826778A CN 106826778 A CN106826778 A CN 106826778A CN 201710251163 A CN201710251163 A CN 201710251163A CN 106826778 A CN106826778 A CN 106826778A
- Authority
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- China
- Prior art keywords
- motor
- electromyographic signal
- signal sensor
- walking
- controller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 210000002414 leg Anatomy 0.000 claims abstract description 92
- 210000000689 upper leg Anatomy 0.000 claims abstract description 37
- 210000003205 muscle Anatomy 0.000 claims description 10
- 230000006870 function Effects 0.000 claims description 6
- 210000001624 hip Anatomy 0.000 claims description 4
- 230000006978 adaptation Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 3
- 210000000629 knee joint Anatomy 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 230000000386 athletic effect Effects 0.000 claims description 2
- 239000000203 mixture Substances 0.000 claims description 2
- 238000000034 method Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 2
- 230000009194 climbing Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000001351 cycling effect Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 210000004394 hip joint Anatomy 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Prostheses (AREA)
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
Abstract
A kind of walking apparatus, are related to wearable device field, more particularly to a kind of walking apparatus for helping people to walk.Including left leg device, right leg device, Lap belt anchorages, controller and battery.The left leg device and right leg device are symmetrically distributed in Lap belt anchorages both sides；The controller and battery are arranged on Lap belt anchorages, the left leg device is identical with right leg device structure, and the left leg device includes thigh arm, shank arm, upper electromyographic signal sensing device, lower electromyographic signal sensing device, upper motor, lower motor, last motor, sole and vamp.The present invention recognizes the motion intention of wearer using the walking habits of wearer and the electromyographic signal of leg, and leg exercise is driven by motor, and auxiliary wearer's walking, is that wearer has saved extremely many strength, more facilitates the trip of wearer.
Description
Technical field
A kind of walking apparatus, are related to wearable device field, more particularly to a kind of walking apparatus for helping people to walk.
Technical background
People when on foot, the mesh for mainly using the muscle on leg to control the motion mode of whole piece leg to reach mobile
, this mode efficiency is slow, and easily tires out, and is not suitable for prolonged trip.Somebody selects to be ridden instead of walk with car, but
The peak period on and off duty in some cities, road is crowded, and most times are all wasted in wait.Cycling trip speed is fast,
It is laborsaving, but be not suitable in non-smooth place traveling, more inapplicable stair climbing or mountain-climbing.
The content of the invention
The invention aims to overcome the shortcomings of above-mentioned present situation, there is provided a kind of walking apparatus for being convenient for people to trip.
A kind of walking apparatus, including left leg device, right leg device, Lap belt anchorages, controller and battery.The controller
It is arranged on Lap belt anchorages with battery.Controller is the control centre of walking apparatus；The battery is mainly controller, left leg
Device and right leg device provide power supply.The left leg device and right leg device are symmetrically distributed in Lap belt anchorages both sides, left leg
Device is identical with right leg device structure.
The concrete structure of left leg device is：It includes thigh arm, shank arm, upper electromyographic signal sensor, lower electromyographic signal
Sensor, upper motor, lower motor, last motor, vamp and sole.Upper motor is arranged on the Lap belt anchorages left and right sides.Thigh
The upper motor of arm upper end connection, the lower motor of lower end connection；The lower motor of shank arm upper end connection, the last motor of lower end connection；It is described
The last motor of sole upper end connection；The vamp is connected with sole, for the sole of fixing wearing person；The upper motor, lower motor
It is used to controlling the motion morphology of thigh arm, shank arm and sole with last motor, thigh arm, shank arm and sole drive thigh, small
Leg and sole are taken exercises.The upper electromyographic signal sensor is arranged on thigh arm；The lower electromyographic signal sensor is arranged on
On shank arm；Upper electromyographic signal sensor is identical with lower electromyographic signal sensor construction, and upper electromyographic signal sensor is by left veneer
With right veneer composition, first left veneer is drawn to the right when using is covered on thigh, right veneer is then covered in left patch to Zola
On face, left veneer and right veneer are pasted mutually using VELCRO or magic tape, and left veneer and right veneer are equipped with inside it
Multiple sensing units, the surface electromyogram signal to real-time monitoring leg muscle changes, and by the surface electromyogram signal of each muscle
Amplitude change feeds back to controller.The controller connects motor, lower motor, last motor, upper electromyographic signal sensor respectively
With lower electromyographic signal sensor.
Left veneer and right veneer can also be held together with rope.
When using, Lap belt anchorages, thigh arm, lower motor, shank arm, last motor and sole are sequentially located at the waist of human body
Portion, big leg outer side, knee joint, small leg outer side, naked joint and sole, the left veneer and right veneer of upper electromyographic signal sensor around
Thigh is simultaneously fit together, and thigh arm is fixed on the position of thigh, and the left veneer and right veneer of lower electromyographic signal sensor enclose
Around shank and fit together, shank arm is fixed on the position of shank, upper electromyographic signal sensor and lower electromyographic signal are sensed
Surface muscle of the device respectively with thigh, shank is fitted, and vamp fixes the position of sole and sole.
Controller is intelligent, and this walking apparatus has learning functionality and repaiies inclined function automatically, can be practised according to the walking of wearer
It is used to be adapted to automatically, wearer is felt comfortable.What the function was realized in：When wearer will be helped away using of the invention
During device, wearer puts on walking apparatus of the invention and starts walking, and the related walking data that walking apparatus can record initial several steps are made
It is primary data, following walking apparatus can compare the data for walking on primary data, if basic coincideing, helps away
Device enters adaptation running status, drives wearer to be walked on by primary data；Once have relatively large deviation, walking apparatus meeting
Primary data is automatically updated.
Specific work process is such：After user puts on the walking apparatus, left leg device and right leg device drive respectively
Left leg and right leg are walked, and left leg device is identical with the operation principle of right leg device, and left leg device and right leg device are when working
There is phase difference, the specific work process of the walking apparatus is now illustrated with left leg device：During walking, upper electromyographic signal
The electromyographic signal of sensor and lower electromyographic signal sensor detection leg simultaneously feeds back to controller, upper motor, lower motor and end electricity
The rotational angle and speed data of motor are fed back to controller by machine, and then controller is upper electromyographic signal sensor, lower myoelectricity
The data that signal transducer, upper motor, lower motor and last motor are transmitted through are preserved, and controller can be moved using every 3 step as one
The custom update cycle.If rear 3 step is essentially identical with preceding 3 step data, the data for continuing to be recorded by preceding 3 step are walked；Such as
If 3 steps and preceding 3 step data have larger difference after fruit, just by the data walking of rear 3 step record, controller can be the number of rear 3 step
It is updated according to as custom data.
Right leg device is identical with the course of work of left leg device, and right leg device and left leg device are so alternately and repeatedly moved,
The walking apparatus can just aid in wearer to walk.
The present invention recognizes the motion intention of wearer using the walking habits of wearer and the electromyographic signal of leg, by electricity
Machine drives leg exercise, and auxiliary wearer's walking based on wearer, supplemented by machine, controls man-machine movement locus one well
The problem of cause property, is that wearer has saved extremely many strength, more facilitates the trip of wearer.
Brief description of the drawings
Fig. 1 is the structural representation of walking apparatus of the invention；Fig. 2 is the schematic side view of walking apparatus of the invention；Fig. 3 is
The structural representation of thigh arm and upper electromyographic signal sensor；Fig. 4 is the structural representation of last motor, sole and vamp.
Label in figure：1- controllers, 2- Lap belt anchorages, 3- batteries, the upper motors of 4-, 5- thigh arms, the upper myoelectricities of 110-
The sensing unit of signal transducer, motor under 7-, 8- shank arms, electromyographic signal sensor under 9-, electromyographic signal sensor under 90-
Sensing unit, the left veneer of electromyographic signal sensor under 91-, the right veneer of electromyographic signal sensor under 92-, 10- right legs dress
Put, the upper electromyographic signal sensors of 11-, the left veneer of the upper electromyographic signal sensors of 111-, the right side of the upper electromyographic signal sensors of 112-
Veneer, 1111- VELCROs or magic tape, the left leg devices of 12-, the upper motor of the right leg devices of 13-, the upper myoelectricity of the right leg devices of 14-
Signal transducer, the lower motor of the right leg devices of 15-, the lower electromyographic signal sensor of the right leg devices of 16-, 17- ends motor, 18- footwear
Bottom, 181- vamps, the last motor of the right leg devices of 19-, the sole of the right leg devices of 20-.
Specific embodiment
The present invention is illustrated below in conjunction with the accompanying drawings.
A kind of walking apparatus, including left leg device 12, right leg device 10, Lap belt anchorages 2, controller 1 and battery 3.Institute
State controller 1 and battery 3 is arranged on Lap belt anchorages 2；Controller 1 is the control centre of walking apparatus；The battery 3 is main
For controller 1, left leg device 12 and right leg device 10 are powered.The left leg device 12 is identical with the structure of right leg device 10, they
It is symmetrically distributed in the left and right sides of Lap belt anchorages 2.
The concrete structure of left leg device 12 is：It includes thigh arm 5, shank arm 8, upper electromyographic signal sensor 11, lower flesh
Electric signal sensor 9, upper motor 4, lower motor 7, last motor 17, vamp 181 and sole 18.Upper motor 4 is fixed installed in waistband
The left side of device 2.The upper end of thigh arm 5 is connected with upper motor 4, and lower end is connected with lower motor 7；The upper end of shank arm 8 connection
Lower motor 7, the last motor 17 of lower end connection；The last motor 17 of the upper end of the sole 18 connection；The vamp 181 is connected with sole 18,
For the sole of fixing wearing person；Upper motor 4, lower motor 7 and last motor 17 are used to control thigh arm 5, shank arm 8 and sole 18
Athletic posture, thigh arm 5, shank arm 8 and sole 18 drive the motion of thigh, shank and sole.Upper electromyographic signal sensor 11
On thigh arm 5；Lower electromyographic signal sensor 9 is arranged on shank arm 8；Upper electromyographic signal sensor 11 and lower myoelectricity are believed
Number structure of sensor 9 is identical.Upper electromyographic signal sensor 11 is made up of left veneer 111 and right veneer 112, first by left patch when using
Face 111 is drawn be covered on thigh to the right, and then right veneer 112 is covered on left veneer 111 to Zola, left veneer 111 and the right side
Veneer 112 is pasted mutually using VELCRO or magic tape, and left veneer 111 and right veneer 112 are equipped with multiple biographies inside it
Sense unit, the surface electromyogram signal to real-time monitoring leg muscle changes, and the surface electromyogram signal amplitude of each muscle is become
Change feeds back to controller 1.The controller 1 connects motor 4, lower motor 7, last motor 17, upper electromyographic signal sensor respectively
11 and lower electromyographic signal sensor 9.
Left veneer 111 and right veneer 112 can also be held together with rope.
When using, Lap belt anchorages 2, upper motor 4, thigh arm 5, lower electric 7 machine, shank arm 8, last motor 17 and sole 18
It is sequentially located at waist, hip joint, big leg outer side, knee joint, small leg outer side, naked joint and the sole of human body；Upper electromyographic signal is passed
The left veneer 111 and right veneer 112 of sensor 11 are fit together around thigh, and thigh arm 5 is fixed on thigh；Lower myoelectricity
The left veneer 91 and right veneer 92 of signal transducer 9 are fit together around shank, and shank arm 8 is fixed on shank；On
The surface muscle of electromyographic signal sensor 11 and lower electromyographic signal sensor 9 respectively with thigh, shank is fitted.
Controller 1 is intelligent, and this walking apparatus has learning functionality and repaiies inclined function automatically, can be practised according to the walking of wearer
It is used to be adapted to automatically, wearer is felt comfortable.What the function was realized in：When wearer will be helped away using of the invention
During device, wearer puts on walking apparatus of the invention and starts walking, and the related walking data that walking apparatus can record initial several steps are made
It is primary data, following walking apparatus can compare the data for walking on primary data, if basic coincideing, helps away
Device enters adaptation running status, drives wearer to be walked on by primary data；Once have relatively large deviation, walking apparatus meeting
Primary data is automatically updated.
Specific work process is such：After user puts on the walking apparatus, left leg device 12 and right leg device 10 are distinguished
Left leg and right leg is driven to walk, left leg device 12 is identical with the operation principle of right leg device 10, left leg device 12 and right leg device
It is the presence of phase difference during 10 work, the specific work process of the walking apparatus is now illustrated with left leg device 12：In the mistake of walking
The electromyographic signal of Cheng Zhong, upper electromyographic signal sensor 11 and lower electromyographic signal sensor 9 detection leg simultaneously feeds back to controller 1,
The rotational angle and speed data of motor are fed back to controller 1 by upper motor 4, lower motor 7 and last motor 17, then controller 1
The data that upper electromyographic signal sensor 11, lower electromyographic signal sensor 9, upper motor 4, lower motor 7 and last motor 17 are transmitted through coming
Preserve, controller 1 can be using every 3 step as an exercise habit update cycle.If rear 3 step is essentially identical with preceding 3 step data
Words, the data for continuing to be recorded by preceding 3 step are walked；If rear 3 step has larger difference with preceding 3 step data, just remember by rear 3 step
The data walking of record, controller 1 can be updated using the data of rear 3 step as custom data.
Right leg device 10 is identical with the course of work of left leg device 12, and right leg device 10 and left leg device 12 are so handed over repeatedly
For motion, the walking apparatus can just aid in wearer to walk.
Claims (5)
1. a kind of walking apparatus, it is characterised in that：Including left leg device（12）, right leg device（10）, Lap belt anchorages（2）, control
Device processed（1）And battery（3）；The controller（1）And battery（3）Installed in Lap belt anchorages（2）On；Controller（1）To help
Walk the control centre of device；The battery（3）Predominantly controller（1）, left leg device（12）With right leg device（10）Power supply；It is described
Left leg device（12）With right leg device（10）Structure is identical, and they are symmetrically distributed in Lap belt anchorages（2）The left and right sides；
Left leg device（12）Concrete structure be：It includes thigh arm（5）, shank arm（8）, upper electromyographic signal sensor（11）、
Lower electromyographic signal sensor（9）, upper motor（4）, lower motor（7）, last motor（17）, sole（18）And vamp（181）；Upper motor
（4）Installed in Lap belt anchorages（2）Left side；Thigh arm（5）Upper end and upper motor（4）It is connected, lower end and lower motor（7）
It is connected；Shank arm（8）Upper end and lower motor（7）It is connected, the last motor of lower end connection（17）；The sole（18）Upper end connection end electricity
Machine（17）；The vamp（181）With sole（18）Connection；Upper motor（4）, lower motor（7）With last motor（17）It is big for controlling
Leg arm（5）, shank arm（8）And sole（18）Athletic posture, thigh arm（5）, shank arm（8）And sole（18）Drive thigh,
Shank and sole are moved；Upper electromyographic signal sensor（11）Installed in thigh arm（5）On；Lower electromyographic signal sensor（9）Install
In shank arm（8）On；Upper electromyographic signal sensor（11）With lower electromyographic signal sensor（9）Structure is identical；Upper electromyographic signal is passed
Sensor（11）By left veneer（111）With right veneer（112）Composition, left veneer（111）With right veneer（112）It is equipped with inside it
Multiple sensing units, the surface electromyogram signal to real-time monitoring leg muscle changes, and by the surface electromyogram signal of each muscle
Amplitude change feeds back to controller（1）；The controller（1）Upper motor is connected respectively（4）, lower motor（7）, last motor（17）、
Upper electromyographic signal sensor（11）With lower electromyographic signal sensor（9）.
2. a kind of walking apparatus according to claim 1, it is characterised in that：Left veneer（111）With right veneer（112）Using evil spirit
Art is pasted or magic tape（1111）Paste mutually；Or be held together using rope.
3. a kind of walking apparatus according to claim 1 and 2, it is characterised in that：When using, Lap belt anchorages 2, upper motor
（4）, thigh arm（5）, lower motor（7）, shank arm（8）, last motor（17）And sole（18）The waist of human body, hip is sequentially located to close
Section, big leg outer side, knee joint, small leg outer side, naked joint and sole；The left veneer of upper electromyographic signal sensor（111）With right patch
Face（112）Fit together around thigh, and by thigh arm（5）It is fixed on thigh；The left veneer of lower electromyographic signal sensor
（91）With right veneer（92）Fit together around shank, and by shank arm（8）It is fixed on shank；Upper electromyographic signal sensor
（11）With lower electromyographic signal sensor（9）The surface muscle with thigh, shank is fitted respectively.
4. a kind of walking apparatus according to claim 1, it is characterised in that：Controller（1）It is intelligent, the walking apparatus have
Learning functionality and inclined function is repaiied automatically, can automatically be adapted to according to the walking habits of wearer, wearer is felt comfortable；
What the function was realized in：When wearer will use walking apparatus of the invention, wearer puts on of the invention helping away
Device starts walking, and walking apparatus can record the related walking data of initial several steps as primary data, and following walking apparatus can be by
The data for walking on compare with primary data, and if basic coincideing, walking apparatus enter adaptation running status, drive wearing
Person walks on by primary data；Once have relatively large deviation, walking apparatus can be automatically updated primary data.
5. a kind of walking apparatus according to claim 4, it is characterised in that：After user puts on the walking apparatus, left leg device
（12）With right leg device（10）Left leg and right leg is driven to walk respectively, left leg device（12）With right leg device（10）Operation principle
It is identical, left leg device（12）With right leg device（10）It is the presence of phase difference during work；During walking, upper electromyographic signal
Sensor（11）With lower electromyographic signal sensor（9）Detect the electromyographic signal of leg and feed back to controller, upper motor（4）, under
Motor（7）With last motor（17）The rotational angle and speed data of motor are fed back to controller, then controller（1）Upper flesh
Electric signal sensor（11）, lower electromyographic signal sensor（9）, upper motor（4）, lower motor（7）With last motor（17）It is transmitted through what is come
Data are preserved, controller（1）Can be using every 3 step as an exercise habit update cycle；If rear 3 step is basic with preceding 3 step data
If identical, the data for continuing to be recorded by preceding 3 step are walked；If rear 3 step has larger difference with preceding 3 step data, just press
The data walking of 3 steps record, controller afterwards（1）Can be updated using the data of rear 3 step as custom data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710251163.0A CN106826778A (en) | 2017-04-18 | 2017-04-18 | A kind of walking apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710251163.0A CN106826778A (en) | 2017-04-18 | 2017-04-18 | A kind of walking apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106826778A true CN106826778A (en) | 2017-06-13 |
Family
ID=59148018
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710251163.0A Pending CN106826778A (en) | 2017-04-18 | 2017-04-18 | A kind of walking apparatus |
Country Status (1)
| Country | Link |
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| CN (1) | CN106826778A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108044601A (en) * | 2017-11-07 | 2018-05-18 | 深圳市奇诺动力科技有限公司 | Ancillary equipment of walking and its control method |
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|---|---|---|---|---|
| JPH0825264A (en) * | 1994-07-14 | 1996-01-30 | Les-Ben:Kk | Walking work equipment |
| KR20120104742A (en) * | 2011-03-14 | 2012-09-24 | 현대로템 주식회사 | Coxa structure for wearable exoskeleton robot |
| CN103932870A (en) * | 2014-05-04 | 2014-07-23 | 浙江大学 | Lower limb rehabilitation training exoskeleton with bionics design |
| JP2015002970A (en) * | 2012-12-03 | 2015-01-08 | 国立大学法人信州大学 | Non-exoskeletal robotic wear |
| CN105213155A (en) * | 2015-10-29 | 2016-01-06 | 刘珩先 | A kind of artificial intelligence motion's auxiliary facilities |
| CN105849788A (en) * | 2013-10-09 | 2016-08-10 | Mc10股份有限公司 | Utility gear including conformal sensors |
| CN205521373U (en) * | 2016-03-31 | 2016-08-31 | 深圳光启合众科技有限公司 | Low limbs structure and low limbs construction package of ectoskeleton robot |
| CN205586208U (en) * | 2016-03-31 | 2016-09-21 | 深圳光启合众科技有限公司 | Ectoskeleton robot |
-
2017
- 2017-04-18 CN CN201710251163.0A patent/CN106826778A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0825264A (en) * | 1994-07-14 | 1996-01-30 | Les-Ben:Kk | Walking work equipment |
| KR20120104742A (en) * | 2011-03-14 | 2012-09-24 | 현대로템 주식회사 | Coxa structure for wearable exoskeleton robot |
| JP2015002970A (en) * | 2012-12-03 | 2015-01-08 | 国立大学法人信州大学 | Non-exoskeletal robotic wear |
| CN105849788A (en) * | 2013-10-09 | 2016-08-10 | Mc10股份有限公司 | Utility gear including conformal sensors |
| CN103932870A (en) * | 2014-05-04 | 2014-07-23 | 浙江大学 | Lower limb rehabilitation training exoskeleton with bionics design |
| CN105213155A (en) * | 2015-10-29 | 2016-01-06 | 刘珩先 | A kind of artificial intelligence motion's auxiliary facilities |
| CN205521373U (en) * | 2016-03-31 | 2016-08-31 | 深圳光启合众科技有限公司 | Low limbs structure and low limbs construction package of ectoskeleton robot |
| CN205586208U (en) * | 2016-03-31 | 2016-09-21 | 深圳光启合众科技有限公司 | Ectoskeleton robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108044601A (en) * | 2017-11-07 | 2018-05-18 | 深圳市奇诺动力科技有限公司 | Ancillary equipment of walking and its control method |
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Application publication date: 20170613 |