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Man-machine supple connecting mechanism aiming at exoskeleton robot

A technology of exoskeleton robot and connection mechanism, which is applied in passive exercise equipment, physical therapy, etc., can solve problems such as difficult implementation and complex structure, and achieve the effect of reducing binding force and improving wearing comfort

Active Publication Date: 2017-06-09
SUZHOU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, this structure is relatively complex and difficult to implement

Method used

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  • Man-machine supple connecting mechanism aiming at exoskeleton robot
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  • Man-machine supple connecting mechanism aiming at exoskeleton robot

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Embodiment 2

[0059] Such as Figure 6 As shown, the rest are the same as in Embodiment 1, the difference is that in order to better contact with the legs of the human body, the shank connection mechanism has designed another alternative structure, and the bracket 38 in Embodiment 1 is separated into two sections, respectively It is short support 61. Roller mounts 62 are installed at both ends of the short bracket for axially positioning the rollers 36 . There are 16 rollers in the whole mechanism that are in contact with the human body and are wrapped around the outside of the lower leg of the human body. The 8 rollers on each side are symmetrical to each other and are distributed in two rows.

[0060] In summary, the present invention discloses a man-machine compliant connection mechanism for exoskeleton robots, which replaces the traditional strap-type connection, can adapt to the joint alignment error and limb length error between the human body and the robot exoskeleton, and effective...

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Abstract

The invention discloses a man-machine supple connecting mechanism aiming at an exoskeleton robot. The connecting mechanism is characterized in that motion pairs are disposed at an exoskeleton shank and a foot part so as to constrain the foot part and the shank of a human body; a planar pair is disposed at the waist part of the exoskeleton so as to constrain the human body waist; and through two motion pairs and one planar pair, the exoskeleton could be connected to the human body, and mechanism constitution is simplified. Traditional belt binding connection is replaced; a joint alignment error and a limb length error between the human body and the robot exoskeleton can be adapted; main-machine constraint force is reduced effectively; and wearing comfort of the exoskeleton robot is enhanced.

Description

technical field [0001] The invention belongs to the technical field of exoskeleton robot design, and in particular relates to a man-machine compliant connection mechanism for exoskeleton robots. Background technique [0002] Exoskeleton robots are of great significance in helping stroke and hemiplegia patients recover. At present, the human body and the exoskeleton robot are mainly connected by straps. Due to the rigid-flexible coupling biological characteristics of the lower limbs of the human body and the difference in limb length between different individuals, the kinematics between the human body and the exoskeleton are not completely matched. Joint alignment errors are created during motion. Relying on the elastic deformation of the connecting part and the deformation of the surface tissue of the limbs to adapt to the error will inevitably increase the binding force between the man and the machine, causing discomfort to the wearer, and even causing secondary injury to ...

Claims

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Application Information

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IPC IPC(8): A61H1/02
CPCA61H1/0237A61H1/0262A61H2201/163A61H2201/164A61H2201/1659A61H2201/165
Inventor 李娟李伟达
Owner SUZHOU UNIV
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