A humanoid lower limb based on pneumatic muscles

Abstract

The invention discloses a simulated human lower limb system on the basis of pneumatic muscles. Movement of a muscle driving hip joint, a knee joint, an ankle joint and toes of a human body is simulated by the aid of the pneumatic muscles, and movement functions of the lower limb of the human body can be completely simulated. A simulated human lower limb mainly comprises a pelvis, a femur, a fibula, a foot sole, the toes, spherical hinges, the pneumatic muscles and a pneumatic muscle fixing plate. The pneumatic muscle driving hip joint which can be used for simulating effects of gluteus maximus muscles, an adductor muscle, iliopsoas muscles, obturator internus muscles, piriformis muscles and the like rotates around a vertical axis, a sagittal axis and a coronal axis; rectus femoris muscles, rear-side muscle groups of a thigh, gracilis muscles and biceps femoris muscles drive the knee joint to rotate around the vertical axis and the coronal axis; triceps surae muscles, front group muscles and outer-side group muscles drive the ankle joint to rotate around the sagittal axis and the coronal axis; the five toes carry out flexion-extension actions under the driving effects of flexor pollicis longus muscles, extensor pollicis longus muscles, flexor digitorum longus muscles and extensor digitorum longus muscles. The simulated human lower limb system has the advantages that the simulated human lower limb system is driven by the pneumatic muscles, is compact in structure and good in explosion-proof performance, is clean and can be used for teaching and demonstration.

Description

technical field [0001] The invention belongs to the technical field of bionic robots, and relates to a lower limb structure and control system for simulating human beings. Background technique [0002] Human lower limbs can adapt to various road conditions, and it has advantages over other ground propulsion methods, so it is an important direction of robot research. [0003] Although the current research on motor-driven humanoid lower limb robots is very mature, considering that pneumatic muscles have a high power / mass ratio, their position control is only affected by a single factor of pressure, and they have the advantages of compliance similar to human muscles. In particular, the knee joint is driven by a motor, which is completely unable to simulate the real movement mechanism of the lower limbs of the human body. At the same time, the study of the walking mechanism of the lower limbs of the human body can better develop corresponding products to meet the needs of societ...

AI Technical Summary

Problems solved by technology

Although some devices and equipment related to pneumatic muscle humanoid robots and pneumatic muscle exoskeletons have been studied, most of them are limited to the form of a pair of pneumatic muscle drives or two sets of four pneumatic muscles. The action of the system cannot realize the control of multiple directions in the system space.

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