Wearable exoskeleton mechanism for detecting movement information of hip joints of human lower limbs

Abstract

The invention relates to a wearable exoskeleton mechanism for detecting movement information of hip joints of human lower limbs, which mainly comprises a hip bent plate, a thigh plate, a hip contracting and stretching rotary joint, a hip flexion and extension rotary joint, a thigh wearing appliance and a hip turning rotary joint. When a human body walks uprightly, a lower limb of the human body drives the exoskeleton mechanism to move in a follow-up manner, and movement information of the corresponding hip joint of the human lower limb is detected by a hip contracting and stretching photoelectric encoder, a hip flexion and extension photoelectric encoder and a hip turning photoelectric encoder which are placed on the hip contracting and stretching rotary joint, the hip flexion and extension rotary joint and the hip turning rotary joint. After being fittingly dressed on the human lower limb, the exoskeleton mechanism and the lower limb form a sealed movement chain for exactly set movement, and the accurate movement information of the human hip joint can be directly acquired.

Description

technical field [0001] The invention relates to a wearable lower limb exoskeleton mechanism, which can be used to detect the movement information of the hip joint of the lower limb during the upright walking movement of a human body. Background technique [0002] Since the 1990s, some research institutions at home and abroad have successively carried out the development and experimental research of wearable lower limb rehabilitation exoskeleton systems, and some of the developed exoskeleton systems for rehabilitation training (such as the LOKOMAT system, etc.) have begun to enter clinical practice. application stage. When performing rehabilitation training on the affected limb, it is necessary to design the guiding motion law of the exoskeleton system for rehabilitation training with reference to the motion information of the hip and knee joints of the lower limbs of the human body. Therefore, it is of practical significance to obtain relatively accurate hip and knee joint ...

AI Technical Summary

Problems solved by technology

Due to the influence of image distortion, parameter extraction accuracy and other factors, there is a certain deviation between the obtained joint motion detection information and the human lower limb hip joint motion.

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