Lower limb exoskeleton boosting device and control method

Abstract

The invention relates to a boosting device, in particular to a lower limb exoskeleton boosting device. The lower limb exoskeleton boosting device comprises thigh connecting rods, crus connecting rods, a waist protection pad, hip joints and knee joints, the thigh connecting rods are connected with the crus connecting rods through the knee joints, the waist protection pad is connected with the thigh connecting rods through the hip joints, and a joint portion of each of the hip joints and the knee joints comprises a joint box, a servo motor, a harmonic gear, a driving worm gear and a driven worm gear, wherein the servo motor is connected on the joint box, the driving worm gear and the harmonic gear are coaxially connected with the servo motor, and the driven worm gear is meshed with the driving worm gear. The driven worm gear of each hip joint is connected with the corresponding thigh connecting rod, and the driven worm gear of each knee joint is connected with the corresponding crus connecting rod. The lower limb exoskeleton boosting device is capable of providing walking power for wearers with moving difficulty so as to save labor, and is high in reliability and stability.

Description

technical field [0001] The invention relates to a booster device, in particular to a lower limb exoskeleton booster device. Background technique [0002] As a service robot, the lower extremity exoskeleton assisting device is a kind of organically combining human and bipedal walking mechanical legs, using human behavior to control the robot, providing power to assist human walking, enhancing people's walking ability and speed, and relieving fatigue feel. [0003] At present, domestic and foreign countries, especially the United States and Japan, have done a lot of research on this aspect. One of the typical research is the robot-mounted hybrid power-assisted leg developed by the University of Tsukuba in Japan in 2002. The mechanical exoskeleton is bound on both sides of the human leg, and the EMG sensor attached to the skin of the leg is used to detect the current of the muscle and control it. Electric motors drive the movement of the mechanical exoskeleton to assist the m...

AI Technical Summary

Problems solved by technology

[0005] The problem to be solved by the present invention is to use the easy-to-control and stable torque signal generated by the mutual movement of the power-assisted device and human legs to provide power to the lower limb exoskeleton power-assisted device to assist people to walk, so as to save the human body's own physical exertion

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