Lower limb exoskeleton boosting device and control method

A technology of booster device and exoskeleton, which is applied in medical science, artificial leg, prosthesis, etc., to achieve the effect of improving detection accuracy and stable control system

Active Publication Date: 2013-09-11
CHONGQING COLLEGE OF ELECTRONICS ENG
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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 d

Method used

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  • Lower limb exoskeleton boosting device and control method
  • Lower limb exoskeleton boosting device and control method
  • Lower limb exoskeleton boosting device and control method

Examples

Experimental program
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Embodiment Construction

[0020] Below in conjunction with accompanying drawing and example the technical solution of the present invention is further described:

[0021] like figure 1 As shown, a lower limb exoskeleton assisting device includes a synchronous controller 1, a strap 2, a waist pad 3, a waist belt 4, a hip joint 5, a thigh bandage 6, a thigh connecting rod 7, a knee joint 8, a calf bandage 9 and Calf link 10.

[0022] like figure 2 shown, for figure 1 Sectional view of the hip joint 5 of the middle and lower extremity exoskeleton booster, including the rotating arm 12, the bearing 11, the wear-resistant round sleeve 14, the joint box 17, the wear-resistant bush 13, the harmonic gear 16, the servo motor 15, and the driving worm gear 18. Locating bearing 19, mounting cover 20 and driven worm gear 21.

[0023] In the lower extremity exoskeleton assisting device of the present invention, the thigh connecting rod 7 and the calf connecting rod 10 are connected through the knee joint 8, the...

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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...

Claims

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Application Information

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IPC IPC(8): A61F2/60A61F2/70
Inventor 谢光辉金敉娜吴德明张进春周彬谢金志
Owner CHONGQING COLLEGE OF ELECTRONICS ENG
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