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A center-of-gravity adjustment device for exoskeleton walking-assisted robots

A walking-assisting robot and center-of-gravity adjustment technology, which is applied in the direction of devices that help people walk, medical science, prostheses, etc., can solve problems such as difficult control, neglect of degrees of freedom, complex robot joint structure, etc., and achieve good mechanism stability and movement range-accurate effects

Active Publication Date: 2016-11-30
SUZHOU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] At present, in the research of exoskeleton robots or biped robots, in order to simplify the robot structure, the joint degrees of freedom of the lower limbs are usually simplified, and the simplified robot has the motion degrees of freedom in the sagittal plane, but the degrees of freedom in the coronal plane are usually Ignored, it makes it difficult for the robot to switch the center of gravity and turn, and at the same time reduces the stability of the robot
[0004] In order to solve the above problems, existing robots need to adjust the center of gravity in the coronal plane, but at present, the center of gravity adjustment is usually realized by increasing the degrees of freedom of the hip joint and ankle joint in the coronal plane, which makes the joint structure of the robot complex and difficult to control

Method used

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  • A center-of-gravity adjustment device for exoskeleton walking-assisted robots
  • A center-of-gravity adjustment device for exoskeleton walking-assisted robots
  • A center-of-gravity adjustment device for exoskeleton walking-assisted robots

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Embodiment

[0059] exist Figure 4 , establish the O-xy coordinate system as shown in the figure at point O. According to the geometric relationship, the position of the drive F and the inclination angle of the bearing plate relative to the x-axis can be obtained. When given initial parameters AF=25cm, AC=34cm, BC=32cm, GE=22cm, CD=30cm, OE=20cm, BG=89cm, OD=95cm, the calculated inclination angle of the bearing plate and the position of the drive F relationship like Figure 7 shown. Depend on Figure 7 It can be seen that when the position of F is from 33 to 53, the load-bearing plate can be tilted by -12 to 12 degrees, and the deflection angle of the sole of the foot can be guaranteed to be -12 to 12 degrees. The specific deflection angle may be determined by the moving position of the F, which is not limited here.

[0060] The invention discloses a center-of-gravity adjustment device for an exoskeleton walking-aiding robot. By setting the device on the sole of the robot, the operat...

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Abstract

The invention discloses a gravity center adjusting device for an exoskeleton walk-aiding robot. The gravity center adjusting device is disposed at the sole of the robot. A hinge adjusting mechanism operates to drive a load bearing plate to swing in a coronal plane, the left-right swing angles of the sole of robot are adjusted along with gravity center deviation, and gravity center balance is adjusted. By the gravity center adjusting device, the robot can have motion freedom degree in the coronal plane under the condition that joint structures are simplified, gravity center adjustment can be performed, and robot stability and flexibility are enhanced. In addition, the gravity center adjusting device is simple in structure, easy to control, and the like.

Description

technical field [0001] The invention belongs to the technical field of exoskeleton robots, and in particular relates to a center-of-gravity adjustment device for exoskeleton walking aid robots. Background technique [0002] An exoskeleton robot refers to a robot that is placed outside the human body, also known as a wearable robot. An exoskeleton refers to a hard exterior that provides protection and support for living things. Information, fusion, and mobile computing provide operators with a comprehensive technology of wearable mechanical mechanisms. It combines human intelligence with the mechanical energy of the external mechanical power device, which can provide people with additional power and ability, and enhance the function of the human body. In recent years, the research and development of exoskeleton robots has become a new hot spot, and has been used in the military, It has gradually been widely used in scientific research, industrial production and daily life. ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61H3/00A61F2/50A61F2/70
Inventor 李娟李伟达胡海燕李春光张虹淼郭浩易子凯
Owner SUZHOU UNIV
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