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A bionic flexible wearable lower limb exoskeleton driven by pneumatic artificial muscles

A pneumatic artificial muscle and exoskeleton suit technology, applied in the field of robotics, can solve the problems of low human coordination, poor flexibility of lower limb exoskeleton robots, and poor bionic performance, and achieve the effects of good flexibility, high bionics, and improved comfort.

Active Publication Date: 2017-01-25
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 existing lower limb exoskeleton robots, and further proposes a bionic flexible wearable lower limb exoskeleton suit driven by pneumatic artificial muscles.

Method used

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  • A bionic flexible wearable lower limb exoskeleton driven by pneumatic artificial muscles
  • A bionic flexible wearable lower limb exoskeleton driven by pneumatic artificial muscles
  • A bionic flexible wearable lower limb exoskeleton driven by pneumatic artificial muscles

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specific Embodiment approach 1

[0013] Specific implementation mode one: combine Figure 1-Figure 7 Illustrate, a kind of bionic flexible wearable lower extremity exoskeleton clothing driven by pneumatic artificial muscle of the present embodiment, it comprises left leg and right leg; It also comprises suspension vest 1, left leg and right leg respectively comprise hip driving system, Knee drive system and foot drive system;

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

[0015] The knee drive system includes knee joint protraction driving pneumatic artificial muscle 9, knee joint protraction transition connection flexible rope 10, knee joint protraction belt 11, knee joint flexion driving pneumatic artificial muscle 12, ...

specific Embodiment approach 2

[0022] Specific implementation mode two: combination figure 1 , Figure 4 and Figure 5 To illustrate, the thigh binding belt 6 of this embodiment is a canvas belt. With such arrangement, it is easy to wear, strong and resistant to folding, good in flexibility, and has a large contact area with the human body, which greatly improves the comfort of the human body after wearing. Others are the same as in the first embodiment.

specific Embodiment approach 3

[0023] Specific implementation mode three: combination figure 1 and Figure 6 To illustrate, the calf binding belt 14 of this embodiment is a canvas belt. With such arrangement, it is easy to wear, strong and resistant to folding, good in flexibility, and has a large contact area with the human body, which greatly improves the comfort of the human body after wearing. Others are the same as in 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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Patent Type & Authority Patents(China)
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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