Wearable power-assisted exoskeleton lower limb mechanism

Abstract

The invention discloses a wearable power-assisted exoskeleton lower limb mechanism which comprises a waist part, a left leg, a right leg, a hydraulic servo driving system, a real-time controller and a power supply module, wherein the right leg and the left leg have same structures and are respectively hinged to the waist part and symmetrically arranged on two sides of the waist part; the hydraulic servo driving system is connected with the left leg and the right leg respectively and controls the left leg and the right leg; the hydraulic servo driving system is connected with the real-time controller; the power supply module supplies power to the hydraulic servo driving system. Motions of hip joints, knee joints and ankle joints are cooperated to complete walking, and 7 degrees of freedom are totally realized; the hip joints and the ankle joints respectively have 3 degrees of freedom, which are respectively bending/stretching, external expanding/internal contraction and medial rotation/lateral rotation; the knee joints have one degree of freedom of bending/stretching. The wearable power-assisted exoskeleton lower limb mechanism is simple, convenient to wear and adjustable in length, and is suitable for being worn by people of different heights and weights and making all the joints of the exoskeleton move freely.

Description

technical field [0001] The invention relates to the field of robots, and relates to a power-assisted mechanism, in particular to a wearable power-assisted exoskeleton lower limb mechanism. Background technique [0002] Soldiers in the army often need to carry heavy loads for long-distance walking or combat. Overweight loads often cause certain damage to the soldiers' bodies. In this context, it is necessary to develop a Exoskeleton equipment; In scientific research, fire rescue and other fields, scientific research personnel and fire rescue personnel often need to walk long distances, carry heavy objects, transport the wounded, field combat, mountaineering expeditions, etc. Traditional wheeled vehicles are difficult to operate in these special areas. occasions come into play. In addition, exoskeletons can also be used for cargo loading and unloading in warehouses to reduce the labor intensity of porters. The combination of exoskeleton and human can adapt to the unstructure...

AI Technical Summary

Problems solved by technology

The characteristic of the power-assisted exoskeleton is that it requires collaboration with the wearer in an unstructured environment, which requires researchers to solve the highly coordinated human-machine integration problem in an unstructured environment, including effective and reliable human-computer interaction issues. The rapid response to human motion intentions, the lightweight and flexible bionic structure design, the safety of the man-machine system, etc. These technical issues are still in the initial stage of exploration and immature, and in-depth research is still needed

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