Pneumatic-muscle-driven exoskeleton assisting mechanism

A technology of pneumatic muscles and power-assisted mechanisms, which is applied in the field of human body power-assisted devices and exoskeleton power-assisted mechanisms, can solve the problems of low power/mass, low system work efficiency, high system cost, etc. good sex effect

Active Publication Date: 2015-04-29
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The disadvantage of motor drive is that the power/mass ratio is small, and the motor with limited weight is difficult to bear a large load
The disadvantages of hydraulic drive are mainly leakage problems, low system efficiency and high system cost
Although the pneumatic drive method has the advantages of being friendly to the environment and the human body, l

Method used

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  • Pneumatic-muscle-driven exoskeleton assisting mechanism
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  • Pneumatic-muscle-driven exoskeleton assisting mechanism

Examples

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Embodiment Construction

[0038] Further illustrate the present invention below in conjunction with accompanying drawing.

[0039] Such as figure 1 As shown, the present invention includes a back support 1, a shoulder joint part 2, an upper arm part 3, an elbow joint part 4, a small arm part 5, a hip joint part 6, a thigh part 7, a knee joint part 8, a calf part 9, an ankle joint part 10 and pressure shoe parts 11; both sides of the upper part of the back support 1 are connected with single-arm components with the same structure, and each single-arm component includes a shoulder joint part 2, an upper arm part 3, an elbow joint part 4 and a forearm part connected in sequence 5. Shoulder joint part 2 has three rotational degrees of freedom, elbow joint part 4 has one rotational degree of freedom, and a single-arm component has four rotational degrees of freedom. The four degrees of freedom of the single-arm component are flexion and extension of the elbow joint, Flexion and extension of the shoulder jo...

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Abstract

The invention discloses a pneumatic-muscle-driven exoskeleton assisting mechanism. One-arm members with four rotation freedom degrees are connected with both sides of the upper portion of a back support and are identical in structure. Each one-arm member comprises a shoulder joint part, an upper arm part, an elbow joint part and a forearm part which are connected successively. Two sides of the lower portion of the back support are connected with one-leg members with identical structures. Each one-leg members with identical structure comprises a hip joint part, a thigh part, a knee joint part, a shank part, an ankle joint part and a pressure shoe part. Each of the shoulder joint parts and the hip joint part has three rotation freedom degrees, and each of the elbow joint parts, the knee joint parts and the ankle joint parts has one rotation freedom degree. The exoskeleton assisting mechanism has 18 rotation freedom degrees altogether. The mechanism is simple in structure, low in weight, good in flexibility and capable of increasing wearer function power and being used in occasions of military actions, disaster relief, rescuing and the like, where human power is not enough to support required loads.

Description

technical field [0001] The present invention relates to a muscle boosting mechanism, in particular to an exoskeleton boosting mechanism driven by pneumatic muscles. The human body boosting device adopts a bionic structure, and the strength used for military operations, disaster rescue, and ambulance is not enough to support the required load occasions. Background technique [0002] Exoskeleton technology is a wearable robot technology, a new mechatronic device developed by imitating the exoskeleton in the biological world, which can be worn on the outside of the operator's body, providing the operator with protection, body support, sports assistance, etc. and other functions. [0003] Most exoskeletons are driven by motors or hydraulics, only a few are driven by pneumatics, and they are mainly used in light-load applications such as medical rehabilitation. The disadvantage of motor drive is that the power / mass ratio is small, and the motor with limited weight is difficult ...

Claims

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Application Information

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IPC IPC(8): B25J9/00
Inventor 刘昊李超赵勇李智寿姚旭平韩思敏
Owner ZHEJIANG UNIV
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