Central driving lower extremity exoskeleton robot

An exoskeleton robot and central drive technology, applied in the field of robotics, can solve the problems of difficulty in adaptive adjustment of the size of the exoskeleton, no assistance, complex and bulky structure, etc., and achieve precise and convenient length adjustment, reduce motor load, and simple transmission structure. Effect

Inactive Publication Date: 2017-07-14
UNIV OF SHANGHAI FOR SCI & TECH
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Problems solved by technology

[0006] Aiming at the problems of too many driving motors in the lower extremity exoskeleton, complex and bulky single motor transmission structure, difficulty in adaptive adjustment of the size of the exoskeleton, and no power assistance when there is no motor drive, the present invention proposes a central drive type s

Method used

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  • Central driving lower extremity exoskeleton robot
  • Central driving lower extremity exoskeleton robot
  • Central driving lower extremity exoskeleton robot

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Embodiment Construction

[0023] The present invention will be described in detail below in conjunction with the accompanying drawings.

[0024] Such as Figure 1 to Figure 7 As shown, a centrally driven lower limb power-assisted exoskeleton structure provided by the present invention includes a back assembly 14 , a thigh assembly 10 , a calf assembly 3 , and a foot assembly 1 . A motor 18, a reducer 17, a gear set 16 and an output shaft 15 are installed in the back assembly 14. The motor 18 is connected to the output shaft 15 through the reducer 17 and the gear set 16, and the two ends of the output shaft 15 are respectively connected by a timing belt assembly 13. The spline assembly 11 on the left and right legs, the spline assembly 11 connects the thigh assembly 10, and the motor 18 transmits the torque to the hip through the reducer 17, the gear 16, the output shaft 15, the timing belt assembly 13 and the spline assembly 11 joint, so as to realize that a motor 18 provides assist torque for the lef...

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Abstract

The invention relates to a central driving lower extremity exoskeleton robot. A motor in a back assembly is connected with an output shaft through a reducer and a gear group in a transmission manner. The output shaft is connected with spline assemblies which are on a left leg and a right leg through synchronous belt assemblies. The motor transmits force moment to hip joints through the reducer, gears, the output shaft, the synchronous belt assemblies, and the spline assemblies, so that the motor respectively providing assistant moment for the left leg and the right leg in a swinging period is realized. Compared with a multi-motor driving lower extremity assistance exoskeleton, the central driving lower extremity exoskeleton is lighter in weight, and saves more energy. An electromagnetic push rod is used as a transmission mechanism to control whether to transmit motor driving moment to hip joints or not, and a transmission structure is simpler, and control is more convenient. Two thigh assemblies are connected through a mooring rope, so as to drive the mooring rope to move using variation of a human body gravity center, playing certain assistance role. The robot can realize to provide assistance for the left leg and the right leg in a swinging period through a motor, and the robot provides assistance for sitting and standing of a paraplegia patient.

Description

technical field [0001] The invention relates to a centrally driven lower extremity exoskeleton robot, in particular to a lower extremity exoskeleton robot that uses a single motor to provide assistance to hip joints on both sides through an electromagnetic push rod, and belongs to the technical field of robots. Background technique [0002] The lower extremity exoskeleton robot is a bionic robot worn on the lower limbs of the human body. It integrates multidisciplinary knowledge such as robotics, mechanism, bionics, control theory, communication technology, and information processing technology. It also involves sensing and control. , information coupling, mobile computing and other technologies can also complete specific tasks under the user's manipulation. At present, the research on exoskeleton booster devices is gradually emerging, and has a wide range of application prospects, such as rehabilitation medicine, individual combat and other fields. For the field of rehabil...

Claims

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Application Information

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IPC IPC(8): A61H1/02B25J9/00
CPCA61H1/0255A61H1/0262A61H2201/1207A61H2201/14A61H2201/1642A61H2201/165A61H2201/1657A61H2201/50A61H2205/10B25J9/0006
Inventor 魏小东曹武警霍金月王峰喻洪流胡冰山孟青云
Owner UNIV OF SHANGHAI FOR SCI & TECH
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