Human lower limb exoskeleton assisting in load bearing

Abstract

The invention discloses a human lower limb exoskeleton assisting in load bearing. The human lower limb exoskeleton is characterized in that the exoskeleton is of a central symmetry structure; each side is composed of a front branch chain and a rear branch chain; each rear branch chain comprises a backpack module, a rear connection rod and an energy storage module; each energy storage module comprises an energy storage module upper connection shaft, a guide cylinder upper connection rod, a guide cylinder lower connection rod, a guide cylinder upper end cover, a controllable linear damper, a long spring baffle, a long spring, a short spring baffle, a short spring, a short spring guide rod, a short spring check block, an energy storage module lower connection shaft and an energy storage module shaft sleeve; the guide cylinder upper connection rods and the guide cylinder lower connection rods form a prismatic pair through cooperation of the guide cylinder upper end covers and the guide cylinder upper connection rods; the guide cylinder upper end covers are connected with the guide cylinder lower connection rods; the long spring baffles are installed at the tail ends of the guide cylinder upper connection rods; the long springs are installed in the guide cylinder lower connection rods; the upper ends of the short spring guide rods are connected with the short spring baffles, and the short spring check blocks are installed at the lower ends of the short spring guide rods; and the short spring guide rods penetrate the short springs from the centers till the short springs make contact with the short spring baffles so that pre-tightening force can be applied.

Description

technical field [0001] The invention relates to a walking-assisting technology of a human lower limb exoskeleton, in particular to an auxiliary weight-bearing lower limb exoskeleton. It is characterized in that it has an energy storage device, which can assist the human body to walk with a load for a long time and a long distance. Background technique [0002] Exoskeleton devices, as human walking aids, have attracted more and more attention in various fields, especially in the field of human assistance. Existing walking aid exoskeletons are mainly divided into two categories with external drive and without external drive. Among them, there are external drive exoskeleton drive methods are mainly divided into pneumatic, hydraulic, motor drive and so on. The exoskeleton for long-distance assisted human weight-bearing walking mainly adopts electric drive. For example, in 2011, Italian Marco Fontana et al. published a paper in IEEE ROBOTICS & AUTOMATION MAGAZINE December 2014 ...

AI Technical Summary

Problems solved by technology

However, due to the large mass of the mechanism itself and poor adaptability to the human body's gait, compared with the human body under the same load, the oxygen consumption of the human body has increased by 10%.

[0003] Because the traditional human exoskeleton with drive has poor bearing capacity, low stiffness, poor dynamic performance, bulkiness, high energy consumption, and short battery life; additional controllers and sensors are required, and the auxiliary human exoskeleton control mainly adopts follow-up control And pre-defined gait control method, need to arrange more sensors, high cost, difficult to manufacture

Therefore, it cannot be used in the case of long-distance long-distance heavy-duty walking of the human body, such as earthquake rescue, tourist travel, and carrying heavy objects upstairs in a non-elevator community, etc.

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