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Wearable lower limb exoskeleton walking-assisted robot

A walking aid robot and exoskeleton technology, which is applied in the direction of appliances to help people move around, physical therapy, etc., can solve the problems of large structure volume, large mass, increase the burden on patients, and the structure is not compact, so as to reduce the complexity and enhance the comfort. and reliability, compact structure

Active Publication Date: 2013-04-24
SUZHOU UNIV
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AI Technical Summary

Problems solved by technology

Its structural volume and mass are large, and its structure is not compact. It will increase the burden on patients when used to help patients walk normally or rehabilitation training, and the fit with the patient's body is poor.

Method used

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  • Wearable lower limb exoskeleton walking-assisted robot
  • Wearable lower limb exoskeleton walking-assisted robot
  • Wearable lower limb exoskeleton walking-assisted robot

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Embodiment Construction

[0031] The invention discloses a wearable lower limb exoskeleton walking assistance robot. The wearable lower limb exoskeleton walking assistance robot has good consistency of hip joint motion and human body motion during walking, and has small human-machine knee joint coaxiality and position deviation. The ankle joint is compact.

[0032] The wearable lower limb exoskeleton walking robot has four degrees of freedom for a single lower limb, including hip joint flexion and extension motion, adduction and abduction motion, knee joint flexion and extension motion, and ankle joint plantar flexion and dorsiflexion motion. Among them, the flexion and extension motion of the hip joint and the knee joint flexion and extension motion are driven. The walking is realized by using less but necessary degrees of freedom, which reduces the complexity of the mechanism and improves the efficiency of the device. Straddle walking is achieved through the flexion and extension of the knee and hip jo...

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Abstract

The invention discloses a wearable lower limb exoskeleton walking-assisted robot, which comprises an ankle joint motion module, a knee joint motion module, a hip joint motion module, a drive module and a waist and supporting frame module, wherein the knee joint motion module is connected with the ankle joint motion module and the hip joint motion module respectively; the drive module is connected with the knee joint motion module and the ankle joint motion module respectively; and the hip joint motion module is connected with the waist and supporting frame module. During the walking period of the robot, the consistency of hip joint motion and human body motion is good, the coaxiality and the position deviation of the knee joints of a human body and the robot are small, and the ankle joint is compact in structure.

Description

Technical field [0001] The invention relates to an auxiliary walking device, in particular to a wearable lower limb exoskeleton walking assistance robot which can be used for the rehabilitation of human lower limb movement disorders. Background technique [0002] At present, the lower limb walking assistance exoskeleton robot is mainly used for the rehabilitation training of the lower limbs of the human body and improving the load capacity of the human body. The wearable lower extremity exoskeleton robot can be worn on the human body and move synchronously with the human. It can follow the detection of human movement information during dynamic walking movement and actively provide driving force to help the patient walk normally and perform rehabilitation training, or help the wearer to complete a larger load And walking for a longer period of time reduces the wearer’s fatigue. [0003] The invention with application number 201110292009.0 designed an exoskeleton wearable lower limb...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61H3/00
Inventor 李伟达李娟胡海燕李春光张楠
Owner SUZHOU UNIV
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