Wearable lower limb exoskeleton device

Abstract

The invention discloses a wearable lower limb exoskeleton device, which comprises a waist supporting frame, a waist object carrier, an adjustable hip mechanism, a connecting rod adjustable knee joint mechanism, a connecting rod adjustable ankle joint mechanism, pressure detection shoes, a leg connecting rod, a constraint part and various connecting pieces. Both lower limbs have twelve rotational freedoms, the single lower limb has six degrees of freedom respectively, a hip has two degrees of freedom which finish bending and stretching as well as adduction and abduction movements of a hip joint, two joint axes always intersects at the center of the hip joint of a human body through the adjustment of the hip mechanism, and a knee joint has one degree of freedom which is coaxial with the knee joint of the human body and corresponds to the bending and stretching movement of the knee joint of the human body; and an ankle joint has three degrees of freedom. The device has good consistency of the movement of the hip joint and the movement of the human body during the walking of people; human-machine knee joints have small coaxality and position deviation; and the ankle joint has a compact structure. The device can be used for strengthening the abilities of walking with load and walking for a long time of wearers and detecting walking information of the wearers, and can also be used for helping people with slight obstacle of lower limb movement to normally walk and gradually rehabilitate.

Description

technical field [0001] The invention relates to a wearable lower extremity exoskeleton mechanism device, in particular to an exoskeleton robot device which can be used for detection of human lower limb movement information and lower limb movement assistance. Background technique [0002] At present, the lower extremity exoskeleton is mainly used in the rehabilitation training of the lower limbs of the human body, and it is generally in the form of a fixed base. The wearable lower extremity exoskeleton can be worn on the human body and move synchronously with the human body, follow and detect human body motion information or actively provide driving torque during dynamic walking movement, to help the wearer complete heavy load and walk for a long time, and reduce the wearer's fatigue. fatigue. The invention with the application number 200410053695.6 and the utility model with the application number 200420081797.4 designed a mechanism with 8 degrees of freedom for both lower ...

AI Technical Summary

Problems solved by technology

The design is based on human-machine coupling and energy components to provide active function assistance, with coupling as the key design, does not require strict correspondence between human-machine joints, and does not have the function of detecting the actual movement of the wearer

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