Reinforcement type series-parallel lower limb exoskeleton

Abstract

The invention discloses a reinforcement type series-parallel lower limb exoskeleton. The reinforcement type series-parallel lower limb exoskeleton comprises a rack and two series-parallel legs, wherein the two series-parallel legs are the same in structure; the series-parallel legs are arranged under the rack, each series-parallel leg comprises a second linear driver, a third linear driver, a first group of short rods, a spring, a second group of long rods, a first pin shaft with a hole, a third group of long rods, a second pin shaft with a hole, a fourth group of short rods, a directional rod, a fourth linear driver, a foot connecting rod and a pedal; four driving DOF (Degrees Of Freedom) and two driven DOF are obtained by one signal series-parallel leg and are respectively driven by the corresponding first linear driver, the corresponding second linear driver, the corresponding third linear driver and the corresponding fourth linear driver, and the matching of motion which is in coordination with a lower limb of a human body is realized through gait control. According to the reinforcement type series-parallel lower limb exoskeleton disclosed by the invention, a series-parallel leg structure is adopted, the bearing capacity is high, the working space is large, the reinforcement type series-parallel lower limb exoskeleton is adapted to a complex terrain, fatigue of the human body during a weight carrying process is relieved, the weight-bearing moving capacity of people is enhanced, and the reinforcement type series-parallel lower limb exoskeleton is suitable for a military soldier, disaster relief personnel and other emergency situations and is a diversified transport platform.

Description

technical field [0001] The invention belongs to the technical field of robots in mechanical engineering, in particular to a power-increasing mixed lower limb exoskeleton. Background technique [0002] The augmented hybrid lower extremity exoskeleton is essentially a wearable robot, that is, a mechanical mechanism worn on the outside of the operator's body. At the same time, it integrates robotic technologies such as sensing, control, information coupling, and mobile computing. On the basis of providing functions such as protection and body support, the operator can also complete certain functions and tasks under the control of the operator. The exoskeleton can be used in individual combat systems to enhance soldiers' cross-country combat capabilities. The exoskeleton worn by a soldier is not only his means of transportation, but also his protective gear, weapons and communication equipment. At the same time, soldiers can carry more equipment than usual, and move and overco...

AI Technical Summary

Problems solved by technology

However, the structure of the mechanism is bloated and cannot meet the requirements of the remaining degrees of freedom of the lower limbs of the human body.

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