Single drive linkage type lower limb power assisting exoskeleton

Abstract

The invention discloses a single drive linkage type lower limb power assisting exoskeleton, relates to a lower limb exoskeleton used for power assisting and walking, and aims to solve the problem that conventional exoskeleton design basically adopts a motor or hydraulic pressure to conduct independent control on a hip-joint and knee joints. The lower limb power assisting exoskeleton comprises a back module, two waist modules, two thighs and two cruses; the two waist modules are arranged at the two ends of the back module; thigh drive sprockets and a third crank shaft on the waist module are mounted on the output shaft of a universal coupling on the back module sequentially from inside to outside; each waist module corresponds to a thigh and a crus; front ends of adjusting outer side plates and adjusting inner side plates on the thighs are hinged to the central shafts of double-row chain wheels on the waist module; two lifting lugs on the cruses are hinged to the connecting shafts on the thighs. The lower limb power assisting exoskeleton is used for assisting the old and disabled, medical rehabilitation, and the like.

Description

technical field [0001] The invention relates to a lower limb exoskeleton for assisting walking, in particular to a single-drive linkage lower limb assisting exoskeleton. Background technique [0002] At present, the research on exoskeleton power-assisted devices is gradually emerging, and has a wide range of application prospects, such as helping the elderly and the disabled, medical rehabilitation, industrial production, earthquake rescue, individual combat and other fields. The general power-assisted exoskeleton has the following characteristics: it can detect the movement intention of the human body; the joint degrees of freedom and joint rotation space are similar to the human body; it has the necessary active drive of the joints to assist the output; it has its own control system and energy system; it has certain safety defense mechanism. [0003] According to the purpose of power transmission, power-assisted exoskeleton can be divided into two situations: exoskeleton ...

AI Technical Summary

Problems solved by technology

[0008] In order to solve the existing exoskeleton design, the present invention basically adopts motor or hydraulic pressure to independently control the hip joint and knee joint, so as to realize the high degree of freedom and high adaptability of the exoskeleton mechanism, but different groups of people have different requirements for the exoskeleton. Different, so high adaptability will bring the problem of functional waste and high cost, and provide a single-drive linkage lower limb power-assisted exoskeleton

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