Crank and rocker mechanism for measuring angle data of human body lower limb joint

Abstract

The invention relates to a human body exoskeleton walking robot, in particular to a crank and rocker mechanism for measuring an angle data of a human body lower limb joint. The crank and rocker mechanism is characterized by comprising a rocker (6), a side link (7), a shank binding rod (8) and a thigh binding rod (9), wherein the shank binding rod (8) is L-shaped, one section of the shank binding rod (8) is fixed to a shank bone (1) through a shank binding shell (2), and the end part of the other section of the shank binding rod (8) is movably connected with one end of the side link (7); the bottom of the thigh binding rod (9) is movably connected with a bent part of the shank binding rod (8), the thigh binding rod (9) is fixed to a thigh bone (4) through a thigh binding shell (3), and the top of the thigh binding rod (9) is movably connected with one end of the rocker (6). According to the crank and rocker mechanism for measuring the angle data of the human body lower limb joint, the line number of an encoder is fully utilized, the sensitivity is improved, a testing result is optimized, the fixation requirements can be met by utilizing a suitable binding force, the crank and rocker mechanism is very comfortable in wearing, the purchase and the machining are easy, and the cost is low.

Description

technical field [0001] The invention relates to a human body exoskeleton walking robot, in particular to a crank-rocker mechanism for measuring joint angle data of human lower limbs. Background technique [0002] Human exoskeleton walking robot refers to a robot that is placed outside the human body to assist people in walking, also known as "wearable robot". [0003] In the test of the human exoskeleton walking robot, it is necessary to measure the joint angle data of the human lower limbs, but now the commonly used test method is to directly place the encoder on each joint of the lower limbs, and then use Velcro for the relative rotation of the two parts of the encoder Fix to the corresponding relative rotation of the human body, or directly fix the encoder to the exoskeleton for measurement, this measurement method mainly has the following disadvantages: [0004] 1) Using the method of directly fixing to the joints of the lower limbs of the human body, since the relative...

AI Technical Summary

Problems solved by technology

[0007] The purpose of the present invention is to provide a crank rocker mechanism for measuring the joint angle data of the lower limbs of the human body, so as to solve the problem of low measurement accuracy due to the small rotation angle of the joints in the current measurement method of the joint angle data of the lower limbs of the human body used for exoskeleton walking robots. The position of the device itself is not stable, and the cost is too high

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