Self-adaptive binding design for exoskeleton robot shank

Abstract

The invention discloses a self-adaptive binding design for an exoskeleton robot shank. The self-adaptive binding design comprises a motor (1), a speed reducer (2), a worm gear and worm (3), a shank connecting rod (4) and a shank binding device (5), wherein the shank binding device (5) comprises a shank rod (51), a sleeve (52), a pin (53), a binding sliding piece (54), a rotary pin (55), a pin fixing piece (56), a binding supporting strip (57) and a carbon fiber supporting plate (58); the shank rod (51) is connected with the shank connecting rod (4). The self-adaptive binding design disclosed by the invention has the beneficial effects that the problems of deviation generated by microcosmic malposition of a man-machine system along the radial direction of a shank and tangential rotating deviation generated by the microcosmic malposition of the man-machine system are solved, any active execution mechanisms do not need to be added any more through the self-adaptive binding design, the mass and the complexity of the system are not increased by a large amount, and the wearing comfort of a recovery exoskeleton is greatly increased.

Description

technical field [0001] The invention relates to the field of exoskeleton mechanical structures, in particular to an adaptive binding design for the calf of an exoskeleton robot. Background technique [0002] As a wearable device, rehabilitation exoskeleton robot is a typical human-machine hybrid system. my country's current exoskeleton robot is still in the research and development stage. For calf binding, a fixed solution is basically used, and the binding device is directly connected to the calf. This solution is simple and easy to implement, and can fully meet the binding requirements. However, since the knee joints of skeletal robots at home and abroad are basically simple hinge structures, which completely ignore the complex movements of the human knee joints, slight joint dislocations often occur during calf flexion and extension. This misalignment will cause the position deviation between the calf stem of the exoskeleton and the human calf, and then cause radial an...

AI Technical Summary

Problems solved by technology

However, since the knee joints of skeletal robots at home and abroad are basically simple hinge structures, which completely ignore the complex movements of the human knee joints, there will often be slight dislocation of the joints during the flexion and extension of the calf.

This misalignment will cause the position deviation between the calf stem of the exoskeleton and the human calf, and then cause radial and rotational forces along the calf at the binding place, seriously affecting the comfort of the binding

Since the rehabilitation exoskeleton is aimed at disabled people with lower limb motor dysfunction, the lower limbs of such people cannot move for a long time and are extremely vulnerable to damage. Long-term use will cause secondary damage to the wearer's limbs

Images