Sitting walking lower limb exoskeleton

Abstract

The invention provides a sitting walking lower limb exoskeleton comprising a seat module, a hip joint module, a thigh module, a spiral fastening module, a knee joint module, a shank module, an ankle joint module, a shoe and a computer control module. The hip joint module is formed by a large gear having a chute track, a small gear and a rack assembled with a roller; the large gear and the small gear are in an engaged transmission; the roller is placed in the chute track; and the other end of the rack is fixedly linked to a small gear shaft. Double-legs are placed between legs of a human body, so a natural balance is achieved; with an installation of the seat, a wearer can rest as needed; the hip joint employs gear engagement to achieve precise cooperation and human-machine joint integration, so wearer comfortableness can be improved; the sitting walking lower limb exoskeleton has compact structure, light weight, can be folded, environment friendly and has functions of self-balancing and resting, thereby being suitable for wide application to hospitals, families, field scientific investigation teams and tourist groups.

Description

technical field [0001] The invention relates to a lower limb exoskeleton, in particular to a sitting and walking lower limb exoskeleton. Background technique [0002] The world has entered an aging society, and there are more and more stroke patients; the number of people with lower limb disabilities caused by various natural disasters, diseases and traffic accidents is also increasing year by year, and their walking behavior degenerates or even loses the normal walking and sports ability Quality of life and freedom of living are affected. Scientific investigators or tourists need to haul heavy objects for long-distance walking, and physical exertion causes the reduction of human resistance, which brings difficulties to people's life, work or travel. In order to solve these problems, people have conducted a lot of research and found that if a lot of walking training is carried out for patients with lower limb walking dysfunction, it can continuously stimulate the central ne...

AI Technical Summary

Problems solved by technology

Scientific investigators or tourists need to haul heavy objects for long-distance walking, physical exertion reduces human resistance, and brings difficulties to people's life, work or travel

In order to solve these problems, people have conducted a lot of research and found that if a lot of walking training is carried out for patients with lower limb walking dysfunction, it can continuously stimulate the central nervous system of the patient's brain, realize the replacement of brain function, and enable the disabled lower limbs to achieve the purpose of walking. Rehabilitation training exoskeleton, such as the invention patent announced in the Chinese Patent Gazette on August 22, 2013: a lower limb rehabilitation training robot, application number: 201310370758X, which is driven by a leg, a human center of gravity and leg spacing adjustment mechanism, a height adjustment mechanism, and a system Composed of brackets, the lower limb rehabilitation training robot realizes walking training for lower limb disabled people, but the rehabilitation training robot is supported by brackets, and the trainer can only perform walking exercises at a fixed position, and cannot complete the role of carrying walking during long-distance travel

In order to realize the purpose of carrying humans for long-distance walking or carrying people with lower limb disabilities to go out and move like normal people, people have also designed walking mobile robots. Skeleton, application number: 200680006514.1, it consists of two legs distributed on the outside of the human body, realizing the ability to carry the wearer for long-distance travel or walking, but this machine is suitable for healthy and strong people, for those with lower limb disabilities because the lower limbs do not have Too much power makes it difficult to wear. The balance of the machine needs to be supported by the human body. The outside of the waist and the waist of the human body affects and restricts the movement of the upper body of humans. In addition, it is also difficult to rest for long-distance walking. Therefore, this robot is used for People with lower extremity disabilities have defects in going out and walking

In order to change the above shortcomings, the invention patent announced on September 18, 2012, the walking assist device, the application number: US008267876B2, it consists of two legs distributed on the inside of the human body, with a seat, this machine solves the limitations of the human body in the above machine The disadvantage of upper body movement is that it uses the slider structure at the joint between the thigh and the seat to realize the coincidence of the hip joint of the machine and the hip joint of the human body, but when the leg is raised and walked forward, the slider moves backward under the action of force Due to the different degrees of tightness of the installation, the sliding distance of the slider is uncertain

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