Energy-saving semi-passive lower limb exoskeleton based on lasso driving

Abstract

The invention discloses an energy-saving semi-passive lower limb exoskeleton based on lasso driving. The energy-saving semi-passive lower limb exoskeleton comprises a hip joint mechanism, a knee joint mechanism connected to the tail end of the hip joint mechanism, an ankle joint mechanism connected to the tail end of the knee joint mechanism, a hip joint motor mechanism arranged on the hip joint mechanism, and an impulse motor mechanism arranged on the hip joint mechanism. The hip joint mechanism comprises a right hip joint mechanism body and a left hip joint mechanism body, the knee joint mechanism comprises a right knee joint mechanism body and a left knee joint mechanism body, and the ankle joint mechanism comprises a right ankle joint mechanism body and a left ankle joint mechanism body. The hip joint motor mechanism comprises a right hip joint motor mechanism body and a left hip joint motor mechanism body, and the impulse motor mechanism comprises a right impulse motor mechanism body, a left impulse motor mechanism body and a back plate. According to the energy-saving semi-passive lower limb exoskeleton, the quantity of active freedom degrees is small, the quantity of passive driving freedom degrees is large, required driving energy is little, the mass and the inertia of moving joints are effectively reduced, and power consumption is lowered.

Description

technical field [0001] The invention relates to an energy-saving semi-passive lower limb exoskeleton driven by a lasso, which belongs to the field of robot applications. Background technique [0002] The exoskeleton robot is a mechanical system that can be worn on the outside of the user. It assists the user and the exoskeleton to coordinate the movement through the drivers installed on each joint, supplemented by angular displacement sensors and joint torque sensors, to achieve power assistance and walking assistance. and rehabilitation functions. [0003] At present, with the development of modern human society, aging has gradually become a social problem and is becoming more and more serious. According to statistics, the total number of elderly people over the age of 60 in the world has exceeded 600 million, and the elderly population in more than 60 countries has reached or exceeded 10% of the total population, and they have entered the ranks of aging societies. As a p...

AI Technical Summary

Problems solved by technology

[0004] At present, although traditional wheeled vehicles are the main way to travel and carry loads, they are not suitable for many occasions

For example, in military, scientific research, fire rescue and other fields, soldiers, scientific research personnel and fire rescue personnel often need to walk long distances, carry heavy objects, transport the wounded, field work, mountaineering expeditions, etc. These special forms of sports cannot rely on traditional vehicle complete

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