Exoskeleton assisting mechanism for lower limb

Abstract

The invention discloses an exoskeleton assisting mechanism for a lower limb. The exoskeleton assisting mechanism comprises a waist bearing unit, a thigh unit, a shank unit and a foot unit. The waist bearing unit and the thigh unit are fixed through the connection of an AA connecting piece and a CE connecting piece; the thigh unit and the shank unit are fixed through the connection of a CB connecting piece and a shank regulating rod; and the shank unit and the foot unit are fixed through the connection of a shank swing rod and an ankle joint shaft. The exoskeleton assisting mechanism for the lower limb is a single-leg seven-degree-of-freedom connecting rod bionic mechanism and is driven by three hydraulic mechanisms. In a human walking process, a thigh connecting rod is matched with a flexible coupling of a hip joint to finish flexion-extension motion in a sagittal section under the push of one of the hydraulic mechanisms, a shank connecting rod is matched with a flexible coupling of a knee joint to finish flexion-extension motion in the sagittal section under the push of the other hydraulic mechanisms, and the foot unit finishes flexion-extension motion in the sagittal section around a DC rotating shaft under the push of another hydraulic mechanism.

Description

Technical field [0001] The invention relates to a mechanical leg structure, and more particularly, to an exoskeleton boosting mechanism for bionic human lower limbs. Background technique [0002] Exoskelelon originally refers to a rigid external structure that provides protection and support for living beings. Exoskelelon can be understood as a combination of human intelligence and robot mechanical energy combined with human-machine wearable equipment. [0003] The main task in the design process of the lower limb exoskeleton assist mechanism is to design the structure of the hip joint, knee joint and ankle joint, determine the driver, sensor model, location and installation form, and the higher load-carrying capacity of the structure. Through the study of the human body's physiological structure, the hip joint is a ball-and-socket joint, and the center of rotation does not change significantly during rotation. Although the ankle joint is a compound joint, its rotation angle is sm...

AI Technical Summary

Problems solved by technology

Although the ankle joint is a compound joint, its rotation angle is small during walking, so the change of the rotation center is not obvious

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