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Myoelectricity-controlled exoskeleton assistant robot

A walking-assisting robot and myoelectric control technology, which are applied in the direction of devices that help people walk, medical science, diagnosis, etc., can solve the problems of ignoring the wearer's actual needs, wearer's discomfort, lack, etc., so as to avoid the wearer's discomfort and improve Wearing comfort and the effect of improving exercise performance

Inactive Publication Date: 2016-04-13
HEBEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This method lacks enough attention to the wearer's own feelings, ignores the wearer's own actual needs, and easily causes the wearer to feel uncomfortable.

Method used

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  • Myoelectricity-controlled exoskeleton assistant robot
  • Myoelectricity-controlled exoskeleton assistant robot
  • Myoelectricity-controlled exoskeleton assistant robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0034] In this example (see Figure 1-3 ) thigh pneumatic execution module 41 is provided with thigh No. 1 pneumatic muscle, thigh No. 2 pneumatic muscle and thigh No. 3 pneumatic muscle; described thigh No. 1 pneumatic muscle is located on the tensor fascia lata of thigh, and thigh No. 2 pneumatic muscle is located in the thigh On the rectus femoris muscle, the No. 3 pneumatic muscle of the thigh is located on the biceps femoris of the thigh; the thigh EMG signal sensor module 42 includes the No. 1 thigh EMG signal sensor, the No. 2 thigh EMG signal sensor and the No. 3 thigh EMG signal The sensors are respectively fixed on the surfaces of the tensor fascia lata, rectus femoris and biceps femoris in the embodiment, so as to monitor the surface electromyographic signal changes of the thigh muscles in real time.

[0035] In an embodiment, the calf pneumatic execution module 51 is provided with a calf 1 pneumatic muscle and a calf 2 pneumatic muscle, the calf 1 pneumatic muscle ...

Embodiment 2

[0037] In this example (see Figure 2-4 ), described thigh pneumatic execution module 41 is provided with thigh No. 1 pneumatic muscle, thigh No. 2 pneumatic muscle, thigh No. 3 pneumatic muscle and thigh No. 4 pneumatic muscle, and described thigh No. 1 pneumatic muscle is positioned at the tensor fascia lata of thigh Above, the No. 2 pneumatic muscle of the thigh is located above the rectus femoris muscle of the thigh, the No. 3 pneumatic muscle of the thigh is located above the biceps femoris of the thigh, and the No. 4 pneumatic muscle of the thigh is located above the vastus lateralis muscle of the thigh; the thigh EMG signal sensor module 42 includes The No. 1 thigh EMG signal sensor, the No. 2 thigh EMG signal sensor, the No. 3 thigh EMG signal sensor, and the No. 4 thigh EMG signal sensor are respectively fixed on the tensor fascia lata, rectus femoris, and femoral femoris in the embodiment. The surface of the head muscle and vastus lateralis muscle is used to monitor ...

Embodiment 1 and 2

[0039] The working principle and workflow of Examples 1 and 2 are:

[0040] (1) The wearer puts on the exoskeleton walking aid robot and starts the device;

[0041] (2) the thigh EMG signal sensor module 42 and the calf EMG signal sensor module 52 work, collect the surface EMG signals of the main muscles of the lower limbs in real time, and then transmit them to the control device 3;

[0042] (3) The control device 3 analyzes the received surface EMG signal data, and decides whether to activate the thigh pneumatic execution module 41 and the calf pneumatic execution module 51;

[0043] (4) If it does not start, then repeat steps (2) and (3);

[0044] (5) If it needs to be started, the control device 3 sends an instruction to the thigh pneumatic execution module 41, the calf pneumatic execution module 51 and the air source, and starts to inflate the pneumatic muscles;

[0045] (6) Calculate the required torque according to the surface EMG signal, read the information of the t...

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Abstract

The invention discloses a myoelectricity-controlled exoskeleton assistant robot. The robot comprises an air source, a left leg, a right leg, a waist fixing device and a control device; the upper end of the left leg and the upper end of the right leg are fixed to the waist fixing device and symmetrically arranged on the two sides of the waist fixing device; the control device is fixed to the waist fixing device. The robot analyzes the movement demand of a wearer by collecting surface electromyogram signals of the legs to control pneumatic muscles to simulate the activity of muscles of a human body, and assists in movement of the wearer on the basis of fully understanding the movement intention of the wearer to avoid discomfort and even hurt caused by forced movement. The pneumatic muscles with low weight, a high energy conversion rate and good smoothness are used as actuators and directly installed between all joints of the human body to provide assistant power for the wearer. The robot is simple in structure, safe, smooth and fit for the physiological characteristics of the human body, and the comfort level is increased obviously.

Description

technical field [0001] The invention relates to a wearable exoskeleton walking assistance robot technology, in particular to a myoelectrically controlled exoskeleton walking assistance robot, which can assist the muscles of the lower limbs of the human body to expand and contract, and help the elderly or those with walking inconvenience to restore lower limb movement functions. Background technique [0002] With the increasing problem of aging in modern society, the health of the elderly has received extensive attention from the whole society, among which the inflexibility of legs and feet is an important problem affecting the life of the elderly. Exoskeleton walking robots can provide external assistance for the elderly or those with inconvenient walking to help them restore certain exercise capabilities, which is of great significance for improving the quality of life of the elderly and reducing the burden on families and society. [0003] Most of the current exoskeleton w...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61H3/00
CPCA61H3/00A61H2201/0157A61H2201/1238A61H2201/164A61H2201/165A61H2201/5056A61H2201/5061A61H2205/10A61H2205/102A61H2205/106A61H2205/108A61H2230/085
Inventor 陈玲玲李珊珊刘作军张燕
Owner HEBEI UNIV OF TECH
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