Lower limb walking aid exoskeleton andwalking aid method thereof

A technology of exoskeleton and lower limbs, which is applied in the field of exoskeleton and walking aids for lower limbs. It can solve problems such as large motor torque, insufficient matching degree of lower limbs, high precision of rotating joints, and high requirements for manufacturing processes, so as to improve safety and guarantee tightness effect

Pending Publication Date: 2017-06-09
HANGZHOU ROBOCT TECH DEV CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the existing exoskeleton has the following disadvantages: the degree of freedom does not match the existing lower limbs of the human body, and some routine movements of the human body cannot be completed...

Method used

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  • Lower limb walking aid exoskeleton andwalking aid method thereof
  • Lower limb walking aid exoskeleton andwalking aid method thereof
  • Lower limb walking aid exoskeleton andwalking aid method thereof

Examples

Experimental program
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Effect test

specific Embodiment approach 1

[0032] The lower extremity walking aid exoskeleton of this embodiment, such as Figure 1-Figure 3 as shown,

[0033]A walking-assisting exoskeleton for lower limbs, which comprises: a symmetrically arranged thigh mechanical joint 1, a mechanical calf joint 2, and a foot support 3, and the walking-assisting exoskeleton for lower limbs also includes a battery 4, a general control Fixed support plate 6, a pair of hip electric actuators 7, hip rotary joints 8, whole leg rotary joints 9, thigh joint electric actuators 10, knee joint electric actuators 11, ankle rotary joints 12, crotch angle detection Sensor 13, thigh joint angle detection sensor 14, calf joint angle detection sensor 15, ankle joint angle detection sensor 16, ankle joint electric push rod 17 and foot pressure sensor 18;

[0034] The mechanical joints 1 of the two legs are connected through the back fixed support plate 6, and the joint is located at the corresponding position of the crotch of the human body. The to...

specific Embodiment approach 2

[0042] The difference from Embodiment 1 is that in the lower limb walking exoskeleton of this embodiment, the lower limb walking exoskeleton also includes a thigh part length adjustment joint 19, and the thigh mechanical joint 1 is provided with guide rails, and the thigh part length The adjustment joint 19 is inserted into the guide rail by the top of the thigh mechanical joint 1, and the thigh mechanical joint 1 is hinged upwardly with the overall rotation joint 9 of the leg through the thigh part length adjustment joint 19; and the connection between the thigh joint electric push rod 10 and the thigh part length adjustment joint 19 Realize driving the rotation of the thigh mechanical joint 1 .

specific Embodiment approach 3

[0044] The difference from Embodiment 1 or Embodiment 2 is that in the lower limb walking exoskeleton of this embodiment, the lower limb walking exoskeleton also includes a calf part length adjustment joint 20, and a guide rail is arranged in the calf mechanical joint 2, and the calf The partial length adjustment joint 20 is inserted into the guide rail by the top of the calf mechanical joint 2, and the calf mechanical joint 2 is hinged upwardly with the thigh mechanical joint 1 through the calf partial length adjustment joint 20; Realize driving the rotation of the calf mechanical joint 2 .

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Abstract

The invention relates to a lower limb walking aid exoskeleton and a walking aid method thereof. the lower limb walking aid exoskeleton solves the problem that existing walking aid device cannot satisfy multi-free degree movement of the lower limb. According to the lower limb walking aid exoskeleton, a crotch pivot joint (8) is connected with a whole leg pivot joint (9), the whole leg pivot joint (9) is hinged with a thigh mechanical joint (1) through a thigh joint electric push rod (10), the thigh mechanical joint (1) is hinged with a shin mechanical joint (2) through a knee joint electric push rod (11), the shin mechanical joint (2) is hinged with an ankle pivot joint (12) and drives the ankle pivot joint to swing, the ankle pivot joint (12) is connected with a foot splint (3), and the upper surface of the foot splint (3) is provided with a foot pressure sensor (18); the lower limb walking aid exoskeleton has the advantages of close matching with a wearer, and coordinate assistance ability.

Description

[0001] Technical field: [0002] The invention relates to a walking aid exoskeleton for lower limbs and a walking aiding method thereof. [0003] Background technique: [0004] The concept of "exoskeleton" originally originated from the exoskeleton of insects, which refers to the strong external structure of living things that provide protection and support. People use the principle of bionics to wear equipment outside the human body that can provide some corresponding assistance, such as providing protection from external injuries, assisting walking, bearing weight, or providing certain skills to enhance the human body. In the field of rehabilitation, the structure is simplified, and only the lower limb part of the mechanical exoskeleton is needed to help people with lower limb dysfunction, allowing them to stand up and move again. However, the existing exoskeleton has the following disadvantages: the degree of freedom does not match the existing lower limbs of the human body...

Claims

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Application Information

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IPC IPC(8): A61H3/00
CPCA61H3/00A61H2003/007
Inventor 王天孙相宇王晓奇张洋
Owner HANGZHOU ROBOCT TECH DEV CO LTD
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