Assisting exoskeleton mechanism system for lower limbs

An exoskeleton and lower limb technology, applied in the field of robotics, can solve the problems of low stiffness and poor stability, and achieve the effects of high stiffness, strong stability and reduced system weight

Inactive Publication Date: 2017-02-22
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to overcome the deficiencies of the prior art, and to provide a lower limb power-assisted exoskeleton mechanism system. The structural design is to consider that the gas-hydraulic series cylinder is driven by the cylinder, which can reduce the weight of the system and increase the driving speed; and the hydraulic cylinder It can overcome the disadvantages of low rigidity and poor stability of pure pneumatic drive

Method used

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  • Assisting exoskeleton mechanism system for lower limbs
  • Assisting exoskeleton mechanism system for lower limbs
  • Assisting exoskeleton mechanism system for lower limbs

Examples

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Effect test

Embodiment 1

[0034] In the passive power assist mode, the system reads the data transmitted by the sensor, and predicts the walking trend of the walker based on the data, and the lower limb assist exoskeleton system runs along this walking trend, playing the role of walking assist. This motion mode is often used in portable load-carrying robot systems.

[0035] The working process of this embodiment:

[0036] The system first uses the data sent back by the ankle joint angular displacement sensor, the knee joint angular displacement sensor and the hip joint angular displacement sensor, and through kinematic analysis, it calculates the current position of the lower limb power-assisted exoskeleton mechanism, and predicts the system's motion position at the next moment. By driving each drive joint motor and air-hydraulic cylinder to achieve the predicted pose, and then reading the sensor position again to predict the system motion pose at the next moment, the open-loop control of the system is r...

Embodiment 2

[0039] In the active assist mode, the lower limb assist exoskeleton mechanism system is pre-programmed into its walking route, and the planned walking is completed through the measurement of each sensor and the closed-loop control system, and the walker moves passively with it. This motion model is often used in medical rehabilitation systems.

[0040] The working process of this embodiment:

[0041] Through the calculation and analysis of dynamics and kinematics, the motion mode of the system is first programmed into the system program, and the control of the predetermined motion mode of the system is completed in a closed loop through the motor, air-hydraulic cylinder actuator and various sensors. The walker moves passively with it.

[0042] In this example, the lower limb assisting exoskeleton mechanism system acts as the active party to plan the movement and plays an assisting role, and the walker moves passively with it, so this movement mode is called the active assisti...

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Abstract

The invention discloses an assisting exoskeleton mechanism system for lower limbs. The assisting exoskeleton mechanism system is characterized by comprising hip joint gas-liquid cylinders, a rigid waistband, hip joint motors, thighs, knee joint gas-liquid cylinders, knee joint motors, shank outer rods, shank inner rods, ankle joint motors and soles. According to the assisting exoskeleton mechanism system disclosed by the invention, gas-liquid series cylinders are used to replace conventional pure hydraulic drive or pure gas-pressure drive to support hip joints and knee joints; the gas-liquid series cylinders are driven by air cylinders, so that system weight can be reduced, and drive speed can be increased; and hydraulic cylinders can overcome defects of low rigidity and poor stability of pure air cylinder drive. Therefore, the assisting exoskeleton mechanism system for the lower limbs provided by the invention has the advantages of good quick rapidity, high rigidity, strong stability, stable operation and the like, and can improve key characteristics of the assisting exoskeleton mechanism system fort the lower limbs.

Description

technical field [0001] The invention belongs to the technical field of robots, in particular to a lower limb assist exoskeleton mechanism system. Background technique [0002] In recent years, assisting the development and research of exoskeleton robots has become a research hotspot at home and abroad. In high mountains and dense forests where the terrain is steep, mechanical vehicles cannot operate, or in stepped areas that are not conducive to wheeled devices, and heavy objects need to be carried by humans, exoskeleton robots can enhance and expand the carrying capacity of humans, enabling humans to carry heavy objects. Long distance walking. At the same time, in the military field, assisting exoskeleton robots can greatly increase the carrying capacity of soldiers; in the field of medical rehabilitation, assisting exoskeleton robots can enhance human movement capabilities and assist patients in muscle and bone rehabilitation. Therefore, the development and application o...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J9/14
CPCB25J9/0006B25J9/14
Inventor 王洪艳陆金波黄智
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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