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A driving method based on a flexible knee joint exoskeleton device

A driving method and a technology of flexible joints, which are applied in the direction of appliances to help people walk, physical therapy, etc., can solve the problems affecting the accuracy of driving force and position control, and the complexity of the system, so as to achieve simple structure, simple calculation process, and convenient The effect of implementation

Active Publication Date: 2019-04-12
HUAZHONG UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

On the one hand, the system becomes more complex, and too many transmission links will also affect the accuracy of the driving force and the accuracy of position control

Method used

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  • A driving method based on a flexible knee joint exoskeleton device
  • A driving method based on a flexible knee joint exoskeleton device
  • A driving method based on a flexible knee joint exoskeleton device

Examples

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Embodiment

[0095] figure 1 It is a structural schematic diagram of the flexible knee exoskeleton of the present invention, the upper link 1 of the exoskeleton is fixedly connected with the human thigh, and the lower link 2 of the exoskeleton is connected with the human calf at point C (including a sliding pair and a rotating pair). The upper connecting rod 1 and the lower connecting rod 2 are connected together through a flexible joint structure 3. This flexible joint mechanism 3 includes two parts: an outer ring 31 and an inner ring 32, wherein the outer ring 31 is fixedly connected with the upper connecting rod 1, and the inner ring 32 and lower link 2 are fixed together. In the initial state, the centers of the inner ring 32 and the outer ring 31 are coincident. During the rotation, the centers of the inner ring 32 and the outer ring 31 may have a certain deviation. Therefore, point B on the lower link 2 can be figure 2 Movement in the shaded area shown, so that it can adapt to th...

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Abstract

The invention belongs to the medical rehabilitation training equipment-dependent field and in particular relates to a flexible knee joint exoskeleton device and a driving method thereof. The flexible knee joint exoskeleton device comprises an upper connecting rod, a lower connecting rod, a flexible joint mechanism and a driving device, wherein the driving device is arranged at the lower end of a flexible joint device, a permanent magnetic is arranged at the lower connecting rod close to a flexible joint structure, coils are arranged at the two sides of an oscillating range of the permanent magnet on the driving device, and one three-axis magnetic sensor is arranged at the center of each coil. The invention also discloses a driving method of the flexible knee joint exoskeleton device. The flexible knee joint exoskeleton device provided by the invention is directly driven by adopting an electromagnetic force, rotation of a joint in multiple freedom degrees can be realized, and real-time driving on the whole flexible knee joint exoskeleton device also can be realized by adjusting an electric current; and the flexible knee joint exoskeleton device can adapt irregularity of a joint of a human body, is applicable to different wearers and also has the advantages of simple structure, easiness in processing, low cost and the like.

Description

technical field [0001] The invention belongs to the related field of medical rehabilitation training equipment, and in particular relates to a flexible knee exoskeleton device and its driving method. The flexible knee exoskeleton device is directly driven by electromagnetic force, and can realize the real-time rotation of multiple degrees of freedom and position control. Background technique [0002] Traditional knee exoskeleton devices often regard the bending of the human knee joint as a rotation with only one degree of freedom. The connection of the exoskeleton joints is usually directly hinged together, and the components can only rotate relative to each other, which also has only one degree of freedom. However, in fact, the contact surface of the human knee joint is irregular, and there is not only relative rotation but also relative movement when the knee joint is bent. Therefore, when the traditional knee joint exoskeleton device bends, it will generate additional pr...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61H3/00
CPCA61H3/00A61H2003/005A61H2201/1207
Inventor 白坤李国民袁密王东海
Owner HUAZHONG UNIV OF SCI & TECH
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