Human lower-limb motion assisting device

Abstract

The invention relates to a human lower-limb motion assisting device, and relates to a motion assisting device. The human lower-limb motion assisting device comprises a leg connecting rod, wherein the leg connecting rod comprises a thigh rod and a calf rod, and the bottom end of the thigh rod is connected to the top end of the calf rod by virtue of a knee joint axle; the human lower-limb motion assisting device is characterized by further comprising a fixing device which is used for fixing the leg connecting rod to a leg of a wearer, wherein the fixing device is connected to the leg connecting rod by virtue of a rotating shaft; a fixing device angular velocity sensor, which is capable of measuring a rotating angular velocity of the fixing device, is arranged on either the rotating shaft or the fixing device; the fixing device angular velocity sensor is in circuit connection to a control system; and the power system, under the control of the control system, can drive the leg connecting rod to expand or bend. The human lower-limb motion assisting device, which adopts the angular velocity sensor, is relatively flexible to sense a motion intention, and a response speed of the power system can be accelerated, so that obstruction in the sensing of the wear's motion intention due to the use of a rigid power system is avoided.

Description

Technical field [0001] The invention relates to a sports assist device, in particular to a human lower limb movement assist device. Background technique [0002] Wearable exoskeleton devices need to accurately measure the movement intention of the wearer's lower limbs in real time, so as to perceive the wearer's current movement status, so as to implement related drive control to achieve good human-machine coordination and provide the wearer with exercise assistance functions. [0003] In the prior art, many use plantar pressure sensors, multiple inclination sensors or waist back pressure sensors to jointly determine the wearer's lower limb movement intention, such as patents CN200680006514.1, CN201310711420.6, CN201410491075.4, etc. These technical solutions are too Complexity, especially when the wearer is moving, brings about the extremely complicated force and inclination changes of the human-machine interaction, and the control system is difficult to effectively control. [000...

AI Technical Summary

Problems solved by technology

This technology detects the extension and bending changes and trends of the legs of the exoskeleton device, but cannot detect the changes in the wearer's body movement, so there is no way to know the wearer's movement intention, and it is difficult for the device to achieve a better wearing experience

Patent CN201310384919.0 mentions that angular velocity gyroscopes are installed on the thigh and calf of the exoskeleton to measure the bending angular velocity of the knee joint. This method also detects the bending angular velocity of the knee joint of the exoskeleton device, and cannot know the wearer's movement intention

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