Auxiliary light-weight integrated multi-freedom-degree lower limb exoskeleton

Abstract

The invention discloses an auxiliary light-weight integrated multi-freedom-degree lower limb exoskeleton and relates to the field of bionic wearable exoskeleton robots. The auxiliary light-weight integrated multi-freedom-degree lower limb exoskeleton comprises a back mounting board, a waist connection part, a hip bionic structure, a hip joint, a thigh bionic structure, a knee joint, a crus bionic structure, an ankle joint and a foot bionic structure; the ankle joint is arranged at the edge of the upper surface of the foot bionic structure; the crus bionic structure is fixedly connected with the foot bionic structure; the thigh bionic structure is installed on the knee joint at the top of the crus bionic structure; the hip joint is fixedly installed at the upper end of the thigh bionic structure; the hip bionic structure is fixedly installed at the upper end of the hip joint; the waist connection part is fixedly connected with the hip bionic structure; and the back mounting board is vertically and fixedly connected with the waist connection part. Through integration of freedom of degrees of all joints, an active joint drive structure is added, the light-weight structure form enhances the man-machine safety and wearing comfort under the condition of meeting the load requirements, and the auxiliary effect of the exoskeleton is improved.

Description

technical field [0001] The invention relates to the field of a bionic wearable exoskeleton robot; in particular, an integrated multi-degree-of-freedom lower extremity exoskeleton with auxiliary light weight. Background technique [0002] In today's highly developed science and technology, robots have penetrated into all walks of life and perform various tasks. Bionic exoskeleton robots are a very important module in the field of robotics. The multi-degree-of-freedom joints of robots can effectively complete complex movements and expand The application fields of robots, but the traditional multi-degree-of-freedom joints are mainly composed of scattered degrees of freedom, or composed of one or two degrees of freedom, with a small range of motion, complex mechanical structures, and it is difficult to achieve lighter and more compliant overall weight. With the continuous development of science and technology, especially after entering the 21st century, exoskeleton-assisted robo...

AI Technical Summary

Problems solved by technology

At present, there are many kinds of multi-degree-of-freedom structural designs at home and abroad. Due to the design defects of the structural form, the multi-joint exoskeleton power-assisted robot has an unsatisfactory power-assisted effect, poor man-machine coupling, and uncomfortable wearing. Even with multi-joint, active and passive drive system design It is complicated, restricts the range of motion of multiple joints, and cannot play a good role in assisting

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