Bionic flexible wearable lower limb exoskeleton clothes driven by pneumatic artificial muscle

A technology of pneumatic artificial muscles and exoskeleton suits, applied in the field of robotics, can solve the problems of poor flexibility of lower extremity exoskeleton robots, low degree of human coordination, poor bionic performance, etc., and achieve high bionicity, good flexibility, and improved comfort.

Active Publication Date: 2015-11-11
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The present invention aims to solve the problems of poor flexibility, poor bionic performance, and low degree of coordination with the human body in

Method used

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  • Bionic flexible wearable lower limb exoskeleton clothes driven by pneumatic artificial muscle
  • Bionic flexible wearable lower limb exoskeleton clothes driven by pneumatic artificial muscle
  • Bionic flexible wearable lower limb exoskeleton clothes driven by pneumatic artificial muscle

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

[0013] Specific implementation mode 1: Combination Figure 1-Figure 7 It is explained that a bionic flexible wearable lower limb exoskeleton suit driven by a pneumatic artificial muscle of this embodiment includes a left leg and a right leg; it also includes a suspension vest 1. The left leg and the right leg respectively include a hip drive system, Knee drive system and foot drive system;

[0014] The hip drive system includes hip joint forward flexion drive pneumatic artificial muscle 2, hip joint backward extension drive pneumatic artificial muscle 4, hip joint forward flexion flexible rope 5, thigh strap 6, hip joint extension belt 7 and hip joint extension transition Connect the flexible rope 8;

[0015] The knee drive system includes the knee joint forward extension driving pneumatic artificial muscle 9, the knee joint forward extension transition connection flexible rope 10, the knee joint forward extension belt 11, the knee joint backward flexion driving pneumatic artificia...

Example Embodiment

[0022] Specific implementation manner two: combination figure 1 , Figure 4 with Figure 5 It is explained that the thigh binding belt 6 of this embodiment is a canvas belt. Such a setting is convenient to wear, strong and durable, flexible, and has a large contact area with the human body, which greatly improves the comfort of the human body after being worn. Others are the same as the first embodiment.

Example Embodiment

[0023] Specific implementation mode three: combination figure 1 with Image 6 It is explained that the calf binding belt 14 of this embodiment is a canvas belt. Such a setting is convenient to wear, strong and durable, flexible, and has a large contact area with the human body, which greatly improves the comfort of the human body after being worn. Others are the same as the first or second embodiment.

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Abstract

Bionic flexible wearable lower limb exoskeleton clothes driven by pneumatic artificial muscle relates to lower limb exoskeleton clothes and solve problems of poor flexibility, undesirable bionic performance and low coordinating degree with human bodies of present lower limb exoskeleton robots. The bionic flexible wearable lower limb exoskeleton clothes comprise a left leg and a right leg and further a suspension vest, wherein the left leg and the right left are individually provided with a hip part driving system, a knee part driving system and a foot part driving system; each hip part driving system is formed by hip joint antexion driving pneumatic artificial muscle, hip joint rear extension pneumatic artificial muscle, a hip joint antexion flexible rope, a hip joint rear extension belt, a hip joint rear extension transition connection flexible rope and a thigh binding belt; and each knee driving system is formed by knee joint antexion driving pneumatic artificial muscle, knee joint rear extension pneumatic artificial muscle, a knee joint antexion belt, a knee joint rear extension flexible rope, a knee joint antexion transition connection flexible rope and a shank binding belt. The bionic flexible wearable lower limb exoskeleton clothes driven by pneumatic artificial muscle is suitable for people wearing.

Description

technical field [0001] The invention relates to a lower limb exoskeleton suit, in particular to a bionic flexible wearable lower limb exoskeleton suit driven by pneumatic muscles, which belongs to the technical field of robots. Background technique [0002] For the development of human lower extremity exoskeleton robots, the importance of selection and layout of driving links and flexible design has become increasingly prominent. At present, most of the existing exoskeleton designs are mainly driven by motors or hydraulic pressure. This structure will inevitably bring system rigidity, reduce the coordination with the human flexible body, and even cause human injury if used improperly. However, the existing pneumatic lower extremity exoskeleton driving devices are mostly arranged on both sides, which deviates from the centerline of human joint motion. Compared with the driving muscles arranged in front and back of human lower limbs, the coordination and bionicity are greatly ...

Claims

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Application Information

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IPC IPC(8): A61H3/00A61F2/60
Inventor 朱延河朱延梅郑天骄隋东宝
Owner HARBIN INST OF TECH
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