南方科技大学知识苑(SUSTech KC): 助力式踝关节外骨骼

Title	助力式踝关节外骨骼
Alternative Title	Power-assisted ankle joint exoskeleton
Author	付成龙; 钱跃鹏 ; 冷雨泉; 黄冠 ; 马亮 ; 朱瀚韬
First Inventor	付成龙
Original applicant	南方科技大学
First applicant	南方科技大学
Address of First applicant	518055 广东省深圳市南山区西丽学苑大道1088号
Current applicant	南方科技大学
Address of Current applicant	518055 广东省深圳市南山区西丽学苑大道1088号 (广东,深圳,南山区)
First Current Applicant	南方科技大学
Address of First Current Applicant	518055 广东省深圳市南山区西丽学苑大道1088号 (广东,深圳,南山区)
Application Number	CN201910663010.6
Application Date	2019-07-22
Open (Notice) Number	CN112274389A
Date Available	2021-01-29
Status of Patent	实质审查
Legal Date	2021-02-23
Subtype	发明申请
SUSTech Authorship	First
Abstract	本发明提供了一种助力式踝关节外骨骼，包括与足部鞋靴相连的脚踝穿戴组件、与小腿相连的腿部穿戴组件和助力装置，脚踝穿戴组件通过枢轴与腿部穿戴组件转动连接，助力装置包括用于驱动脚踝穿戴组件与腿部穿戴组件发生相对转动的鲍登线缆、用于带动鲍登线缆拉伸的动力装置和用于将动力装置绑定于用户腰部的腰带；在人体行走时，动力装置带动鲍登线缆的钢丝索，钢丝索在导线套的引导下拉动脚踝穿戴组件相对于腿部穿戴组件发生转动，以向用户踝关节跖屈运动提供助力，辅助用户正常行走。本发明提供的助力式踝关节外骨骼结构紧凑，体型小，重量轻，减轻用户下肢在踝关节处的负重，对人体运动影响小，使用户保持自然的步态正常行走。
Other Abstract	The invention provides a power-assisted ankle joint exoskeleton, comprising an ankle wearing assembly connected with a foot boots, a leg wearing assembly connected with a shank and a power assisting device, wherein the ankle wearing assembly is rotationally connected with the leg wearing assembly through a pivot; the power assisting device comprises a Bowden cable used for driving the ankle wearing assembly and the leg wearing assembly to rotate relatively, a power device used for driving the Bowden cable to stretch, and a waistband used for binding the power device to the waist of a user; andwhen a human body walks, the power device drives a steel wire rope of the Bowden cable, and the steel wire rope pulls the ankle wearing assembly to rotate relative to the leg wearing assembly under the guidance of a wire sleeve, so assistance is provided for plantar flexion movement of an ankle joint of a user and the user is assisted in walking normally. The power-assisted ankle joint exoskeleton provided by the invention is compact in structure, small in size and light in weight, the load of the lower limb of the user at the ankle joint is reduced, influence on human motion is small, and the user can keep natural gait and walk normally.
CPC Classification Number	A61H3/00 ; A61H2003/005 ; A61H2003/007 ; A61H2201/1207 ; A61H2201/1642
IPC Classification Number	A61H3/00
INPADOC Legal Status	（ENTRY INTO FORCE OF REQUEST FOR SUBSTANTIVE EXAMINATION）[2021-02-23][CN]
INPADOC Patent Family Count	1
Extended Patent Family Count	1
Priority date	2019-07-22
Patent Agent	李艳丽
Agency	深圳中一联合知识产权代理有限公司
URL	[Source Record]
Data Source	PatSnap
Document Type	Patent
Identifier	http://kc.sustech.edu.cn/handle/2SGJ60CL/532277
Department	Department of Mechanical and Energy Engineering
Recommended Citation GB/T 7714	付成龙,钱跃鹏,冷雨泉,等. 助力式踝关节外骨骼.

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