Foot sole wheel-driven alternating walking exoskeleton device for rehabilitation training of paraplegia
A technology of alternating walking and rehabilitation training, applied to passive exercise equipment, equipment to help people walk, manipulators, etc., can solve the problems of poor human-machine gait coordination, expensive products, high energy consumption, etc., and achieve real-time intervention effect of ability
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[0022] The present invention will be described in detail below in conjunction with the drawings.
[0023] Such as figure 1 As shown, the exoskeleton device of the present invention mainly includes exoskeleton and elbow crutch, among which,
[0024] The exoskeleton includes power and control circuit module 1, hip joint 2, wire 3, leg fixing plate and strap 4, knee joint lock 5, length adjustment screw 6, and plantar drive module 7.
[0025] The power supply and control circuit module 1 mainly includes a lithium-ion battery pack, a motor controller and a wireless signal receiver.
[0026] The wire 3 mainly includes a three-phase brushless motor wire and a Hall wire, which is responsible for transmitting the electric energy and control signals of the power supply and control circuit module 1 to the sole driving module 7 to drive the human body forward.
[0027] The leg fixing plate and strap 4 are located at the femur and tibia and are responsible for fixing the user's lower limbs.
[0028]...
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