The invention discloses an
underwater power-assisted flexible
exoskeleton system. The
underwater power-assisted flexible
exoskeleton system comprises a flexible binding unit, an
ankle joint power-assisted unit, a sensing unit and a flipper, the flexible binding unit comprises a
vest and a shank binding part; the
ankle joint power-assisted unit comprises a
dorsal flexion power-assisted Bowden line, a
plantar flexion power-assisted Bowden line and an
ankle joint driving unit, the ankle joint driving unit is connected with the
dorsal flexion power-assisted Bowden line and the
plantar flexion power-assisted Bowden line, fixed to the
vest and comprises a controller, the
dorsal flexion power-assisted Bowden line and the
plantar flexion power-assisted Bowden line are fixed to the shanks of a user through shank binding parts, and the dorsal flexion power-assisted Bowden line is connected to the front end of the flipper the plantar flexion assisting
Bowden cable is connected to the rear end of the flipper through the flipper connecting belt; the sensing unit is used for receiving a user action intention
signal and transmitting a related
signal to the controller, and the controller processes the related
signal and then controls the ankle joint driving unit to provide assistance.
Human body motion intention is sensed through the inertial sensor, the
breaststroke motion stage is judged, the ankle joint power assisting unit is controlled to assist power, and physical output of a user is reduced.