Central driving lower extremity exoskeleton robot

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...

AI Technical Summary

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 single motor drive The lower extremity exoskeleton structure uses an electromagnetic push rod to control whether the power-assisted torque is transmitted to the hip joint, and uses the change of the center of gravity to assist the hip joint to swing through the cable, and the length of the thigh and calf can be adjusted

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