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Modular foot adjustable assist device for human lower extremity exoskeleton robot

An exoskeleton robot and power-assisted device technology, which is applied in passive exercise equipment, physical therapy, etc., can solve the problems of inseparable devices and shoes, short power-assisted time, inconvenient wearing, etc., to achieve easy wearing, weight reduction, and simplified transmission Effect

Active Publication Date: 2019-06-11
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The present invention solves the problems that existing devices and shoes of exoskeleton robots cannot be separated, it is very inconvenient to wear and the problem of short assisting time, and further provides a modular foot adjustable assisting device for exoskeleton robots of human lower limbs

Method used

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  • Modular foot adjustable assist device for human lower extremity exoskeleton robot
  • Modular foot adjustable assist device for human lower extremity exoskeleton robot
  • Modular foot adjustable assist device for human lower extremity exoskeleton robot

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specific Embodiment approach 1

[0022] Specific implementation manner one: such as Figure 1~4 As shown, the modular foot-adjustable booster device for the human lower limb exoskeleton robot of this embodiment includes a foot-adjustable device 4, a leg fixing device 2, a spring-saving device 3, and Waist fixation device 1; the foot adjustable device includes a U-shaped groove 15, a plantar wrapping device 14, two bearings 18, and two first screws 17, a threaded hole is machined on each side of the U-shaped groove 15, Two counterbore holes are machined on the plantar wrapping device 14 corresponding to the threaded holes on both sides of the U-shaped groove 15. The U-shaped groove 15 is installed on the plantar wrapping device 14 by two first screws 17, and each screw 17 is worn There is a bearing 18, which is located on the outside of the counterbore; the plantar wrapping device 14 is provided with a first connecting rope 20, and the spring labor saving device 3 includes a spring 11, a connecting rod 12 and tw...

specific Embodiment approach 2

[0024] Specific implementation manner two: such as figure 1 with 2 As shown, two rows of circular holes are correspondingly processed on both sides of the bottom of the sole wrapping device 14 in this embodiment along its length direction, and the first connecting rope 20 is threaded on the circular holes of the sole wrapping device 14. Such a design can effectively reduce the size of the plantar wrapping device 14 under the same strength and performance requirements, thereby reducing its mass, so that the exoskeleton robot increases the mass of the human body and effectively reduces the metabolic consumption. The other components and connection relationships are the same as in the first embodiment.

specific Embodiment approach 3

[0025] Specific implementation manner three: such as figure 1 with figure 2 As shown, the plantar wrapping device 14 of this embodiment further includes a plurality of third bandages 19, and the third bandages 19 are worn on the upper part of the plantar wrapping device 14. Such a design is more convenient for human feet to wear, and can effectively fix the foot adjustable device on the foot. Other components and connection relationships are the same as those in the first or second embodiment.

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Abstract

The invention discloses a modular foot adjustable power assisting device for a human lower extremity exoskeleton robot, and relates to a power assisting device for a lower extremity exoskeleton robot. The modular foot adjustable power assisting device solves the problems of an existing exoskeleton robot that a device and a shoe can not be separated, putting on is inconvenient, and power assisting time is short. Each bearing is located on the outer side of a counter bore. One end of a spring is connected with a leg fixing device through a Bowden cable, and the other end of the spring is connected with the upper end of a connecting rod through another Bowden cable. The lower end of the connecting rod is connected with a sole wrapping device through a screw. A Bowden cable housing fixing device is movably connected with a front leg wrapping device through a screw. A first bandage is mounted on the lower portion of the front leg wrapping device, and a second bandage is mounted in a clip of a power motor assembly. The power motor assembly is connected with the upper end of a Bowden cable housing. The lower end of the Bowden cable housing is fixed to the Bowden cable fixing device. The modular foot adjustable power assisting device is applied to the human lower extremity exoskeleton robot.

Description

Technical field [0001] The invention relates to an adjustable foot assist device for a robot, in particular to an adjustable foot assist device for a modularized lower limb exoskeleton robot. Background technique [0002] In recent years, the lower extremity ankle joint exoskeleton robot has been rapidly developed in the field of human body assistance. It is mainly used in the assistance of normal people and the elderly, rehabilitation treatment of the disabled and walking. At present, the ankle joint exoskeleton device mainly has the following shortcomings: 1. Most of the existing exoskeleton devices and shoes are together, so it is very inconvenient to wear, not suitable for body shape, uncomfortable to wear, and affects walking. Even cause damage to the body; 2. Most of the existing exoskeleton use Bowden ropes to transmit force, but the Bowden ropes are relatively hard, which makes the rope sometimes produce reverse force, which will affect the driving device; 3. Part of the ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61H1/02
CPCA61H1/0237A61H2201/1207A61H2201/14A61H2201/1642A61H2201/165
Inventor 杨炽夫郑进忠丁振衣淳植王广欢姜峰苏浩
Owner HARBIN INST OF TECH
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