Flexible suit and flexible system for rehabilitation training of human leg

Patent metadata

Field	Value
Publication number	US-11123252-B2
Application number	US-201916387633-A
Country	US
Kind code	B2
Filing date	Apr 18, 2019
Priority date	Jul 5, 2018
Publication date	Sep 21, 2021
Grant date	Sep 21, 2021

Abstract

The present disclosure provides a flexible suit and a flexible system for rehabilitation training of a human leg. The flexible suit includes a first hip joint motion assembly, a first knee joint motion assembly and a first ankle joint motion assembly, a first end of the first knee joint motion assembly is connected with the first hip joint motion assembly, a second end of the first knee joint motion assembly is connected with the first ankle joint motion assembly, the first hip joint motion assembly, the first knee joint motion assembly, and the first ankle joint motion assembly each includes a flexible mechanism, and at least one of a group consisting of the first hip joint motion assembly, the first knee joint motion assembly, and the first ankle joint motion assembly is configured to operate under gas drive.

First claim

What is claimed is:

1. A flexible suit for rehabilitation training of a human leg, comprising: a first hip joint motion assembly, a first knee joint motion assembly and a first ankle joint motion assembly,
wherein a first end of the first knee joint motion assembly is connected with the first hip joint motion assembly, a second end of the first knee joint motion assembly is connected with the first ankle joint motion assembly,
the first hip joint motion assembly, the first knee joint motion assembly, and the first ankle joint motion assembly each comprises a flexible assembly, and the first hip joint motion assembly, the first knee joint motion assembly, and the first ankle joint motion assembly are all configured to operate under gas drive,
the first knee joint motion assembly comprises:
at least two pneumatic drive assemblies respectively located on a first side and a second side of the first knee joint motion assembly,
the at least two pneumatic drive assemblies comprise pneumatic flexible drivers, respectively, and are configured to achieve a contractile movement under the gas drive, and the first side and the second side of the first knee joint motion assembly are two sides opposite to each other.

2. The flexible suit according to claim 1 , wherein the first end of the first knee joint motion assembly is hinged with the first hip joint motion assembly, and the second end of the first knee joint motion assembly is hinged with the first ankle joint motion assembly.

3. The flexible suit according to claim 1 , wherein the first knee joint motion assembly further comprises:
at least one upper connecting plate and at least one lower connecting plate,
wherein a first end of the at least one lower connecting plate is connected to a second end of the at least one upper connecting plate in one-to-one correspondence manner.

4. The flexible suit according to claim 1 , wherein the first knee joint motion assembly further comprises:
two upper connecting plates respectively located on a third side and a fourth side of the first knee joint motion assembly; and
two lower connecting plates respectively located on the third side and the fourth side of the first knee joint motion assembly,
wherein first ends of the two lower connecting plates are connected to second ends of the two upper connecting plates in one-to-one correspondence manner, and the third side and the fourth side of the first knee joint motion assembly are two sides opposite to each other.

5. The flexible suit according to claim 4 , wherein the first knee joint motion assembly further comprises:
a thigh sheath, to which first ends of the at least two pneumatic drive assemblies and first ends of the two upper connecting plates are all connected; and
a shank sheath, to which second ends of the at least two pneumatic drive assemblies and second ends of the two lower connecting plates are all connected.

6. The flexible suit according to claim 5 , wherein the first ends of the two lower connecting plates are hinged to the second ends of the two upper connecting plates in one-to-one correspondence manner;
the first ends of the at least two pneumatic drive assemblies and the first ends of the two upper connecting plates are all hinged to the thigh sheath; and
the second ends of the at least two pneumatic drive assemblies and the second ends of the two lower connecting plates are all hinged to the shank sheath.

7. The flexible suit according to claim 1 , wherein the at least two pneumatic drive assemblies comprise pneumatic muscles, respectively.

8. The flexible suit according to claim 1 , wherein the first hip joint motion assembly comprises: at least three pneumatic drive assemblies respectively located on a first side, a second side and a third side of the first hip joint motion assembly,
wherein first ends of the at least three pneumatic drive assemblies are all hinged to the first knee joint motion assembly by first hinge elements,
the at least three pneumatic drive assemblies comprise pneumatic flexible drivers, respectively, and are configured to achieve a contractile movement under the gas drive, the first side of the first hip joint motion assembly and the second side of the first hip joint motion assembly are two sides opposite to each other, and the third side of the first hip joint motion assembly is a side adjacent to both the first side and the second side of the first hip joint motion assembly.

9. The flexible suit according to claim 8 , wherein the first hip joint motion assembly further comprises:
a waist sheath, to which second ends of the at least three pneumatic drive assemblies are all hinged by second hinge elements; and
a braces, connected to the waist sheath.

10. The flexible suit according to claim 8 , wherein the at least three pneumatic drive assemblies comprise pneumatic muscles, respectively.

11. The flexible suit according to claim 1 , wherein the first ankle joint motion assembly comprises: at least three pneumatic drive assemblies respectively located on a first side, a second side and a third side of the first ankle joint motion assembly,
wherein first ends of the at least three pneumatic drive assemblies are all hinged to the first knee joint motion assembly by third hinge elements,
the at least three pneumatic drive assemblies comprise pneumatic flexible drivers, respectively, and are configured to achieve a contractile movement under the gas drive, the first side of the first ankle joint motion assembly and the second side of the first ankle joint motion assembly are two sides opposite to each other, and the third side of the first ankle joint motion assembly is a side adjacent to both the first side and the second side of the first ankle joint motion assembly.

12. The flexible suit according to claim 11 , wherein the first ankle joint motion assembly further comprises:
a pedal member, to which second ends of the at least three pneumatic drive assemblies are all hinged by fourth hinge elements.

13. The flexible suit according to claim 11 , wherein the at least three pneumatic drive assemblies comprise pneumatic muscles, respectively.

14. The flexible suit according to claim 1 , further comprising a second hip joint motion assembly, a second knee joint motion assembly and a second ankle joint motion assembly,
wherein a structure of the first hip joint motion assembly and a structure of the second hip joint motion assembly are identical, a structure of the first knee joint motion assembly and a structure of the second knee joint motion assembly are identical, a structure of the first ankle joint motion assembly and a structure of the second ankle joint motion assembly are identical,
the first knee joint motion assembly and the second knee joint motion assembly are arranged in left-right symmetric manner, the first ankle joint motion assembly and the second ankle joint motion assembly are arranged in left-right symmetric manner, and the first hip joint motion assembly and the second hip joint motion assembly are arranged in left-right symmetric manner.

15. A flexible system, comprising a pneumatic control system and the flexible suit according to claim 1 ,
wherein the first hip joint motion assembly, the first knee joint motion assembly, and the first ankle joint motion assembly in the flexible suit are all connected to the pneumatic control system, and the pneumatic control system is configured to control, based on the gas drive, at least one of the group consisting of the first hip joint motion assembly, the first knee joint motion assembly, and the first ankle joint motion assembly to operate.

Assignees

• Beijing Boe Optoelectronics Tech Co Ltd
• Boe Technology Group Co Ltd

Inventors

• Xue Bangcan
• Liu Yanjun
• Kang Taesung
• Deng Liguang
• Jin Wenfeng
• Bai Jian
• Zhang Dong
• Jia Tao
• Meng Jia
• Ji Hongqiang
• Long Zhehua
• Liu Yu
• Liang Yanbin
• An Meijuan
• Zhao Jinge
• Yuan Feiwu

Classifications

• A61H2201/165

  Wearable interfaces · CPC title

• A61H2205/10

  Leg · CPC title

• A61H2201/1238

  with hydraulic or pneumatic drive · CPC title

• A61H2003/007

  secured to the patient, e.g. with belts · CPC title

• A61H2205/088

  Hip · CPC title